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 | Move Flasks to Burners | move_flasks_to_burners.xml | 43.7s | 157 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 + 7.09sINFOobjective_server_nodeFound path in 0 iterations (8.61e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-04 15:17:49.796] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-04 15:17:49.796] [info] Accepted new action goal ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266202 ms (missed cycles : 4). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266202 ms (missed cycles : 4).[0m ×2 + 9.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070694 ms (missed cycles : 2). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070694 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884669 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884669 ms (missed cycles : 2).[0m ×2 + 10.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.38sINFOros2_control_node[2026-09-04 15:17:53.066] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-09-04 15:17:53.066] [info] Accepted new action goal ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931554 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931554 ms (missed cycles : 2).[0m ×2 + 11.63sWARNros2_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 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191974 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191974 ms (missed cycles : 4).[0m ×2 + 13.36sINFOobjective_server_nodeFound path in 0 iterations (5.26e-07 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.40sINFOros2_control_node[2026-09-04 15:17:56.089] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-09-04 15:17:56.089] [info] Accepted new action goal ×2 + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104526 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104526 ms (missed cycles : 3).[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717071 ms (missed cycles : 3). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717071 ms (missed cycles : 3).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347294 ms (missed cycles : 3). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347294 ms (missed cycles : 3).[0m ×2 + 16.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047492 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047492 ms (missed cycles : 2).[0m ×2 + 17.54sWARNros2_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 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540552 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540552 ms (missed cycles : 2).[0m ×2 + 18.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806888 ms (missed cycles : 5). + 18.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.806888 ms (missed cycles : 5).[0m ×2 + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073949 ms (missed cycles : 5). + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.073949 ms (missed cycles : 5).[0m ×2 + 20.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288388 ms (missed cycles : 3). + 20.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288388 ms (missed cycles : 3).[0m ×2 + 21.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368373 ms (missed cycles : 2). + 21.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368373 ms (missed cycles : 2).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300667 ms (missed cycles : 4). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.300667 ms (missed cycles : 4).[0m ×2 + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210546 ms (missed cycles : 2). + 23.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210546 ms (missed cycles : 2).[0m ×2 + 23.90sINFOobjective_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 + 23.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.90sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.90sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.90sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.90sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.78sINFOros2_control_node[2026-09-04 15:18:07.465] [info] Received new action goal ×2 + 24.78sINFOros2_control_node[2026-09-04 15:18:07.465] [info] Accepted new action goal ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515929 ms (missed cycles : 4). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.515929 ms (missed cycles : 4).[0m ×2 + 25.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.98sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816770 ms (missed cycles : 5). + 25.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.816770 ms (missed cycles : 5).[0m ×2 + 26.26sINFOobjective_server_nodeFound path in 0 iterations (5.58e-07 s). ×2 + 26.33sINFOros2_control_node[2026-09-04 15:18:09.013] [info] Received new action goal ×2 + 26.33sINFOros2_control_node[2026-09-04 15:18:09.013] [info] Accepted new action goal ×2 + 27.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363073 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.363073 ms (missed cycles : 2).[0m ×2 + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856157 ms (missed cycles : 3). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856157 ms (missed cycles : 3).[0m ×2 + 28.62sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 28.63sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.64sINFOros2_control_node[2026-09-04 15:18:11.320] [info] Received new action goal ×2 + 28.64sINFOros2_control_node[2026-09-04 15:18:11.320] [info] Accepted new action goal ×2 + 29.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.255599 ms (missed cycles : 7). + 29.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.255599 ms (missed cycles : 7).[0m ×2 + 29.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714251 ms (missed cycles : 5). + 30.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.714251 ms (missed cycles : 5).[0m ×2 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803081 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803081 ms (missed cycles : 2).[0m ×2 + 31.78sINFOros2_control_node[2026-09-04 15:18:14.460] [info] Received new action goal ×2 + 31.78sINFOros2_control_node[2026-09-04 15:18:14.460] [info] Accepted new action goal ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842768 ms (missed cycles : 5). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.842768 ms (missed cycles : 5).[0m ×2 + 33.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479891 ms (missed cycles : 2). + 33.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479891 ms (missed cycles : 2).[0m ×2 + 34.37sINFOobjective_server_nodeFound path in 0 iterations (6.52e-07 s). ×2 + 34.38sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.42sINFOros2_control_node[2026-09-04 15:18:17.103] [info] Received new action goal ×2 + 34.42sINFOros2_control_node[2026-09-04 15:18:17.103] [info] Accepted new action goal ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919415 ms (missed cycles : 3). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919415 ms (missed cycles : 3).[0m ×2 + 35.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819447 ms (missed cycles : 3). + 35.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819447 ms (missed cycles : 3).[0m ×2 + 35.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 36.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.023545 ms (missed cycles : 5). + 36.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.023545 ms (missed cycles : 5).[0m ×2 + 37.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715964 ms (missed cycles : 5). + 37.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715964 ms (missed cycles : 5).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426882 ms (missed cycles : 3). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426882 ms (missed cycles : 3).[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625686 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625686 ms (missed cycles : 2).[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172151 ms (missed cycles : 4). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172151 ms (missed cycles : 4).[0m ×2 + 42.03sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353138 ms (missed cycles : 2). + 42.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353138 ms (missed cycles : 2).[0m ×2 + 42.46sWARNros2_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 + 43.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192335 ms (missed cycles : 2). + 43.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192335 ms (missed cycles : 2).[0m ×2 + 44.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687978 ms (missed cycles : 4). + 44.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687978 ms (missed cycles : 4).[0m ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077991 ms (missed cycles : 2). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077991 ms (missed cycles : 2).[0m ×2 + 45.72sINFOros2_control_node[2026-09-04 15:18:28.409] [info] Received new action goal ×2 + 45.72sINFOros2_control_node[2026-09-04 15:18:28.409] [info] Accepted new action goal ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404075 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404075 ms (missed cycles : 2).[0m ×2 + 46.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788535109.57875371 seconds ×3 + 47.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.49sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.68sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788535110.36341977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987075 ms (missed cycles : 3). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987075 ms (missed cycles : 3).[0m ×2 + 48.89sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193362 ms (missed cycles : 4). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193362 ms (missed cycles : 4).[0m ×2 + 48.91sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.92sINFOros2_control_node[2026-09-04 15:18:31.608] [info] Received new action goal ×2 + 48.92sINFOros2_control_node[2026-09-04 15:18:31.608] [info] Accepted new action goal ×2 + 49.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611643 ms (missed cycles : 3). + 49.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611643 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 42.8s | 9 errors · 158 warnings · 18222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946157 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609611 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609611 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024400 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788535121.34359407 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.82sINFOobjective_server_nodecaller: ×4 + 2.83sINFOobjective_server_nodetype: 0 ×4 + 2.83sINFOobjective_server_nodename: "" ×4 + 2.83sINFOobjective_server_nodeinstance_id: "" ×4 + 2.83sINFOobjective_server_node ×4 + 2.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535121.94541168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.05sINFOros2_control_node[2026-09-04 15:18:42.109] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-04 15:18:42.109] [info] Accepted new action goal ×2 + 3.11sWARNros2_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 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402815 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402815 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095337 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095337 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.32sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.38sINFOobjective_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 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420070 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420070 ms (missed cycles : 2).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783715 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783715 ms (missed cycles : 2).[0m ×2 + 6.50sINFOjoint_trajectory_controllerReceived new action goal ×2995 + 6.50sINFOjoint_trajectory_controllerAccepted new action goal ×2993 + 6.50sINFOros2_control_nodeReceived new action goal[0m ×5990 + 6.50sINFOros2_control_nodeAccepted new action goal[0m ×5986 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019123 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019123 ms (missed cycles : 2).[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147640 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147640 ms (missed cycles : 2).[0m ×2 + 8.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180921 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180921 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613661 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613661 ms (missed cycles : 3).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001623 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001623 ms (missed cycles : 2).[0m ×2 + 11.39sINFOjoint_trajectory_controllerGot request to cancel goal ×10 + 11.39sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×5 + 11.39sINFOros2_control_nodeGot request to cancel goal[0m ×20 + 11.39sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×10 + 11.39sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626280 ms (missed cycles : 4). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.626280 ms (missed cycles : 4).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933014 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933014 ms (missed cycles : 2).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848257 ms (missed cycles : 2).[0m ×2 + 14.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688695 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688695 ms (missed cycles : 2).[0m ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237340 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237340 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740958 ms (missed cycles : 2). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740958 ms (missed cycles : 2).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273051 ms (missed cycles : 4). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273051 ms (missed cycles : 4).[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946926 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946926 ms (missed cycles : 2).[0m ×2 + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821382 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821382 ms (missed cycles : 2).[0m ×2 + 21.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885511 ms (missed cycles : 2). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885511 ms (missed cycles : 2).[0m ×2 + 22.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670209 ms (missed cycles : 3). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670209 ms (missed cycles : 3).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001297 ms (missed cycles : 2). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001297 ms (missed cycles : 2).[0m ×2 + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233604 ms (missed cycles : 2). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.233604 ms (missed cycles : 2).[0m ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288651 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288651 ms (missed cycles : 2).[0m ×2 + 26.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694376 ms (missed cycles : 2). + 26.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694376 ms (missed cycles : 2).[0m ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256825 ms (missed cycles : 2). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256825 ms (missed cycles : 2).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765551 ms (missed cycles : 4). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765551 ms (missed cycles : 4).[0m ×2 + 29.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788804 ms (missed cycles : 2). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788804 ms (missed cycles : 2).[0m ×2 + 30.59sINFOjoint_trajectory_controllerGoal reached, success! + 30.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 30.89sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1788535146.573448) that ends in the past (1788535149.663448) + 30.89sERRORros2_control_nodeReceived trajectory with non-zero start time (1788535146.573448) that ends in the past (1788535149.663448)[0m ×2 + 30.91sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1788535146.573448) that ends in the past (1788535149.763448) + 30.91sERRORros2_control_nodeReceived trajectory with non-zero start time (1788535146.573448) that ends in the past (1788535149.763448)[0m ×2 + 30.91sERRORobjective_server_nodeMPCSphereClearance Error: The trajectory controller at '/joint_trajectory_controller/follow_joint_trajectory' rejected a streamed MPC trajectory goal. Check the controller's log for the rejection reason. ×3 + 30.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597778 ms (missed cycles : 4). + 30.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597778 ms (missed cycles : 4).[0m ×2 + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072174 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072174 ms (missed cycles : 2).[0m ×2 + 33.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736345 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736345 ms (missed cycles : 2).[0m ×2 + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694402 ms (missed cycles : 2). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694402 ms (missed cycles : 2).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686115 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686115 ms (missed cycles : 2).[0m ×2 + 35.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 36.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702650 ms (missed cycles : 2). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702650 ms (missed cycles : 2).[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580780 ms (missed cycles : 2). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580780 ms (missed cycles : 2).[0m ×2 + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721623 ms (missed cycles : 2). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721623 ms (missed cycles : 2).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981434 ms (missed cycles : 2). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981434 ms (missed cycles : 2).[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199247 ms (missed cycles : 2). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199247 ms (missed cycles : 2).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012232 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012232 ms (missed cycles : 2).[0m ×2 + 42.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769527 ms (missed cycles : 2). + 42.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769527 ms (missed cycles : 2).[0m ×2 + 43.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986655 ms (missed cycles : 5). + 43.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986655 ms (missed cycles : 5).[0m ×2 + 44.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263109 ms (missed cycles : 5). + 44.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263109 ms (missed cycles : 5).[0m ×2 + 45.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535164.10478067 seconds ×3 + 45.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 45.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 45.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926884 ms (missed cycles : 3). + 45.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926884 ms (missed cycles : 3).[0m ×2 + 45.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.60sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.65sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.69sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535164.75138807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.73sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.83sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 45.83sINFOros2_control_node[2026-09-04 15:19:24.895] [info] Received new action goal ×2 + 45.83sINFOros2_control_node[2026-09-04 15:19:24.895] [info] Accepted new action goal ×2 + 46.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949462 ms (missed cycles : 2). + 46.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949462 ms (missed cycles : 2).[0m ×2 + 47.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566180 ms (missed cycles : 2). + 47.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566180 ms (missed cycles : 2).[0m ×2 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890545 ms (missed cycles : 2). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890545 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 · 13290 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2182 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2182 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4364 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4364 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769527 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.769527 ms (missed cycles : 2).[0m ×2 + 0.58sWARNros2_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 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986655 ms (missed cycles : 5). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.986655 ms (missed cycles : 5).[0m ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263109 ms (missed cycles : 5). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263109 ms (missed cycles : 5).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535164.10478067 seconds ×3 + 3.28sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.28sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.28sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.28sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926884 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926884 ms (missed cycles : 3).[0m ×2 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.83sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.83sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.83sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.83sINFOobjective_server_nodecaller: ×4 + 3.83sINFOobjective_server_nodetype: 0 ×4 + 3.83sINFOobjective_server_nodename: "" ×4 + 3.83sINFOobjective_server_nodeinstance_id: "" ×4 + 3.83sINFOobjective_server_node ×4 + 3.89sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.92sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535164.75138807 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 15:19:24.895] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 15:19:24.895] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949462 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949462 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566180 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566180 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890545 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890545 ms (missed cycles : 2).[0m ×2 + 7.66sWARNros2_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 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863141 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863141 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702178 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702178 ms (missed cycles : 2).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947727 ms (missed cycles : 5). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947727 ms (missed cycles : 5).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863232 ms (missed cycles : 2). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863232 ms (missed cycles : 2).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766680 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766680 ms (missed cycles : 2).[0m ×2 + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956360 ms (missed cycles : 2). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956360 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910135 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910135 ms (missed cycles : 2).[0m ×2 + 14.57sWARNros2_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 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945658 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945658 ms (missed cycles : 2).[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901203 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901203 ms (missed cycles : 2).[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624440 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624440 ms (missed cycles : 2).[0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797829 ms (missed cycles : 2). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797829 ms (missed cycles : 2).[0m ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528726 ms (missed cycles : 2). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528726 ms (missed cycles : 2).[0m ×2 + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804417 ms (missed cycles : 2). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804417 ms (missed cycles : 2).[0m ×2 + 20.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332423 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332423 ms (missed cycles : 2).[0m ×2 + 22.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 22.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 25.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 26.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.02sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.32sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 26.32sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 26.34sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 26.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 26.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 27.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 27.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 27.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 28.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00496129 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925010 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925010 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_node[2026-09-04 15:17:26.959] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-04 15:17:26.959] [info] Accepted new action goal ×2 + 0.91sINFOros2_control_node[2026-09-04 15:17:27.361] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-09-04 15:17:27.361] [info] Accepted new action goal ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243954 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243954 ms (missed cycles : 2).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127163 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_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 + 2.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.81sERRORobjective_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: 1788535049.25932884 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.52sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.52sINFOobjective_server_nodecaller: ×6 + 3.52sINFOobjective_server_nodetype: 0 ×6 + 3.52sINFOobjective_server_nodename: "" ×6 + 3.52sINFOobjective_server_nodeinstance_id: "" ×6 + 3.52sINFOobjective_server_node ×6 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788535050.07932138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965811 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965811 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.82sINFOros2_control_node[2026-09-04 15:17:30.273] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-04 15:17:30.273] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654319 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654319 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658163 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658163 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_node[2026-09-04 15:17:32.829] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-09-04 15:17:32.829] [info] Accepted new action goal ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228572 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228572 ms (missed cycles : 2).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328479 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328479 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912464 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912464 ms (missed cycles : 2).[0m ×2 + 9.63sWARNros2_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 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851172 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.851172 ms (missed cycles : 2).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.382741 ms (missed cycles : 6). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.382741 ms (missed cycles : 6).[0m ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260457 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260457 ms (missed cycles : 3).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4).[0m ×2 + 14.95sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535061.39794850 seconds ×3 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6).[0m ×2 + 15.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535062.07328010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.69sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535062.14341378 seconds ×3 + 16.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.24sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 16.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.41sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 16.41sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 18.41sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687978 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687978 ms (missed cycles : 4).[0m ×2 + 0.37sINFOobjective_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 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.37sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.37sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.37sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077991 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077991 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.26sINFOros2_control_node[2026-09-04 15:18:28.409] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-09-04 15:18:28.409] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404075 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404075 ms (missed cycles : 2).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788535109.57875371 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 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[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: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.02sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.02sINFOobjective_server_nodecaller: ×4 + 3.02sINFOobjective_server_nodetype: 0 ×4 + 3.02sINFOobjective_server_nodename: "" ×4 + 3.02sINFOobjective_server_nodeinstance_id: "" ×4 + 3.02sINFOobjective_server_node ×4 + 3.21sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788535110.36341977 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987075 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987075 ms (missed cycles : 3).[0m ×2 + 4.07sWARNros2_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 ×4 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193362 ms (missed cycles : 4). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193362 ms (missed cycles : 4).[0m ×2 + 4.45sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.46sINFOros2_control_node[2026-09-04 15:18:31.608] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-09-04 15:18:31.608] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611643 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611643 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894513 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894513 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675999 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675999 ms (missed cycles : 2).[0m ×2 + 8.15sINFOobjective_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 + 8.15sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.15sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.15sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.16sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385544 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385544 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065421 ms (missed cycles : 2).[0m ×2 + 9.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 10.58sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.59sINFOros2_control_node[2026-09-04 15:18:37.738] [info] Received new action goal ×2 + 10.59sINFOros2_control_node[2026-09-04 15:18:37.738] [info] Accepted new action goal ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884021 ms (missed cycles : 3). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884021 ms (missed cycles : 3).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946157 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946157 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609611 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609611 ms (missed cycles : 3).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024400 ms (missed cycles : 2). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024400 ms (missed cycles : 2).[0m ×2 + 14.19sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788535121.34359407 seconds ×3 + 14.73sINFOobjective_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: ""
+ 14.73sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 14.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535121.94541168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 14.96sINFOros2_control_node[2026-09-04 15:18:42.109] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-09-04 15:18:42.109] [info] Accepted new action goal ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402815 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402815 ms (missed cycles : 3).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095337 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095337 ms (missed cycles : 2).[0m ×2 + 16.22sINFOobjective_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 + 16.23sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420070 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420070 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 52 warnings · 221 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.30sINFOobjective_server_nodecaller: ×6 + 2.30sINFOobjective_server_nodetype: 0 ×6 + 2.30sINFOobjective_server_nodename: "" ×6 + 2.30sINFOobjective_server_nodeinstance_id: "" ×6 + 2.30sINFOobjective_server_node ×6 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2).[0m ×2 + 6.59sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.60sINFOros2_control_node[2026-09-04 15:17:00.208] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-04 15:17:00.208] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788384 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788384 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658763 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658763 ms (missed cycles : 2).[0m ×2 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449120 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449120 ms (missed cycles : 2).[0m ×2 + 9.00sINFOros2_control_node[2026-09-04 15:17:02.600] [info] Received new action goal ×2 + 9.00sINFOros2_control_node[2026-09-04 15:17:02.600] [info] Accepted new action goal ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265796 ms (missed cycles : 5). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.265796 ms (missed cycles : 5).[0m ×2 + 10.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 11.40sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 11.40sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 13.62sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.63sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535027.23470116 seconds ×3 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 14.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 14.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.48sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 14.48sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.61sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.61sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.61sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.61sINFOobjective_server_nodecaller: ×12 + 0.61sINFOobjective_server_nodetype: 0 ×12 + 0.61sINFOobjective_server_nodename: "" ×12 + 0.61sINFOobjective_server_nodeinstance_id: "" ×12 + 0.61sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 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 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_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 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.62sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 5.95sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.11sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.13sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.13sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863478 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863478 ms (missed cycles : 5).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943651 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943651 ms (missed cycles : 2).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430705 ms (missed cycles : 4). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.430705 ms (missed cycles : 4).[0m ×2 + 8.63sWARNros2_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 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879180 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879180 ms (missed cycles : 3).[0m ×2 + 9.91sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 9.93sINFOros2_control_node[2026-09-04 15:16:28.683] [info] Received new action goal ×2 + 9.93sINFOros2_control_node[2026-09-04 15:16:28.683] [info] Accepted new action goal ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194434 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194434 ms (missed cycles : 4).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836899 ms (missed cycles : 5). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836899 ms (missed cycles : 5).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274155 ms (missed cycles : 4). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274155 ms (missed cycles : 4).[0m ×2 + 13.24sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 13.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.27sINFOros2_control_node[2026-09-04 15:16:32.022] [info] Received new action goal ×2 + 13.27sINFOros2_control_node[2026-09-04 15:16:32.022] [info] Accepted new action goal ×2 + 13.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOros2_control_node[2026-09-04 15:16:32.659] [info] Got request to cancel active goal. ×2 + 13.90sINFOros2_control_node[2026-09-04 15:16:32.659] [info] Canceling active goal... ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563010 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563010 ms (missed cycles : 3).[0m ×2 + 13.92sERRORobjective_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: 1788534992.67412996 seconds ×3 + 13.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.45sINFOobjective_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: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788534993.27889442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 14.75sINFOros2_control_node[2026-09-04 15:16:33.502] [info] Received new action goal ×2 + 14.75sINFOros2_control_node[2026-09-04 15:16:33.502] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079716 ms (missed cycles : 5). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079716 ms (missed cycles : 5).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479478 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479478 ms (missed cycles : 2).[0m ×2 + 17.01sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 17.01sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.03sINFOros2_control_node[2026-09-04 15:16:35.783] [info] Received new action goal ×2 + 17.03sINFOros2_control_node[2026-09-04 15:16:35.783] [info] Accepted new action goal ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813655 ms (missed cycles : 5). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813655 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.0s | 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 + 0.01sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535241.74540925 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[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: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.56sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.56sINFOobjective_server_nodecaller: ×8 + 0.56sINFOobjective_server_nodetype: 0 ×8 + 0.56sINFOobjective_server_nodename: "" ×8 + 0.56sINFOobjective_server_nodeinstance_id: "" ×8 + 0.56sINFOobjective_server_node ×8 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 seconds ×3 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.44sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.50sINFOobjective_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 + 2.50sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.50sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535245.49849677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5).[0m ×2 + 4.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535246.67862844 seconds ×3 + 4.98sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067391 ms (missed cycles : 2). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067391 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608273 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608273 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663928 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663928 ms (missed cycles : 3).[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387076 ms (missed cycles : 2). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387076 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941418 ms (missed cycles : 5). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.941418 ms (missed cycles : 5).[0m ×2 + 10.39sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.39sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.40sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.41sERRORweb_video_auth_proxy-23process has died [pid 7437, 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 + 10.41sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.41sERRORweb_bridge_auth_proxy-22process has died [pid 7436, 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 + 10.41sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.41sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.42sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.42sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.42sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.43sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.43sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.44sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.44sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.45sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.45sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.46sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.46sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.46sINFOcontroller_managerShutdown request received.... + 10.46sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.46sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.46sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.46sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.46sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.46sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.46sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.46sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.46sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.46sINFOvideo_server2026/09/04 15:20:52 INF shutting down gracefully ×2 + 10.46sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.46sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.46sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.46sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOvideo_server2026/09/04 15:20:52 INF [WebRTC] closing ×2 + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.47sINFOvideo_server2026/09/04 15:20:52 INF [RTSP] closing ×2 + 10.47sINFOvideo_server2026/09/04 15:20:52 INF waiting for running hooks ×2 + 10.47sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.47sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.47sERRORmove_groupStack trace (most recent call last) in thread 7784: ×2 + 10.47sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.47sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.47sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.47sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.47sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.47sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.47sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.47sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.47sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.47sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.47sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.47sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f104dfeba63, in __clone ×2 + 10.47sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f104df5eaa3, in ×2 + 10.47sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.47sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f104e1f0db3, in ×2 + 10.47sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f104e955a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.47sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f104e582620, in rclcpp::Rate::sleep() ×2 + 10.47sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f104e4c4d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.47sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f104e486087, in ×2 + 10.47sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f104e1bf390, in __cxa_throw ×2 + 10.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f104e1a9a54, in std::terminate() ×2 + 10.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f104e1bf0d9, in ×2 + 10.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f104e1a9ff4, in ×2 + 10.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f104deea8fe, in abort ×2 + 10.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f104df0727d, in raise ×2 + 10.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f104df60b2c, in pthread_kill ×2 + 10.48sERRORmove_groupAborted (Signal sent by tkill() 7348 0) ×2 + 10.48sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.48sINFOvideo_server-21process has finished cleanly [pid 7435] ×2 + 10.48sERRORmove_group-9process has died [pid 7348, 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_1n6kw0yq --params-file /tmp/launch_params_b1euy9xo --params-file /tmp/launch_params_v2bpvt8w --params-file /tmp/launch_params_i02fpz7q --params-file /tmp/launch_params_xn_woj3e --params-file /tmp/launch_params_nu_3mkw7']. ×2 + 10.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.68sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 11.46sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7434] ×2 + 11.46sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.47sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7352] ×2 + 11.49sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7351] ×2 + 11.52sINFOexecute_objective_bridge-17process has finished cleanly [pid 7356] ×2 + 11.53sINFOui_teleop_bridge-18process has finished cleanly [pid 7357] ×2 + 11.53sINFOwaypoint_manager_node-11process has finished cleanly [pid 7350] ×2 + 11.53sINFOcomponent_container_mt-16process has finished cleanly [pid 7355] ×2 + 11.54sINFOparameter_manager_node-10process has finished cleanly [pid 7349] ×2 + 11.61sINFOobjective_server_node[0;m[2026-09-04 15:20:53.344] [moveit_pro_license] [info] ×2 + 11.61sINFOobjective_server_node************************************************* ×4 + 11.61sINFOobjective_server_node* MoveIt Pro License ×2 + 11.61sINFOobjective_server_node* Application has successfully terminated ×2 + 11.74sINFOobjective_server_node_main-14process has finished cleanly [pid 7353] ×2 + 11.74sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.63sINFOcomponent_container_mt-15process has finished cleanly [pid 7354] ×2 + 12.68sINFOweb_bridge-19process has finished cleanly [pid 7358] ×2 + 12.68sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.11sINFOros2_control_node-1process has finished cleanly [pid 7307] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476839 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476839 ms (missed cycles : 2).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788535036.19804215 seconds ×3 + 1.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240403 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240403 ms (missed cycles : 2).[0m ×2 + 2.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383811 ms (missed cycles : 4). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383811 ms (missed cycles : 4).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.98sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788535038.87570596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.18sINFOros2_control_node[2026-09-04 15:17:19.079] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-04 15:17:19.079] [info] Accepted new action goal ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449254 ms (missed cycles : 6). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449254 ms (missed cycles : 6).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733263 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733263 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616470 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616470 ms (missed cycles : 3).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957699 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957699 ms (missed cycles : 2).[0m ×2 + 6.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.79sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.80sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.07sINFOobjective_server_nodeFound path in 0 iterations (9.91e-07 s). ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (5.63e-07 s). ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (4.17e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.18sINFOobjective_server_nodeFound path in 0 iterations (7.43e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 1 iterations (0.00312313 s). ×2 + 7.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.45sINFOobjective_server_nodeFound path in 2 iterations (0.0049307 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 1 iterations (0.00416261 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085088 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085088 ms (missed cycles : 2).[0m ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.03sINFOros2_control_node[2026-09-04 15:17:23.922] [info] Received new action goal ×2 + 8.03sINFOros2_control_node[2026-09-04 15:17:23.922] [info] Accepted new action goal ×2 + 8.81sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965480 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965480 ms (missed cycles : 2).[0m ×2 + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802401 ms (missed cycles : 2). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802401 ms (missed cycles : 2).[0m ×2 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 10.55sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.56sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 10.56sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 10.71sINFOobjective_server_nodeFound path in 1 iterations (0.00496129 s). ×2 + 10.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925010 ms (missed cycles : 2). + 11.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925010 ms (missed cycles : 2).[0m ×2 + 11.06sINFOros2_control_node[2026-09-04 15:17:26.959] [info] Received new action goal ×2 + 11.06sINFOros2_control_node[2026-09-04 15:17:26.959] [info] Accepted new action goal ×2 + 11.46sINFOros2_control_node[2026-09-04 15:17:27.361] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-09-04 15:17:27.361] [info] Accepted new action goal ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243954 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243954 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127163 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127163 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 + 13.36sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.36sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.36sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.36sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.36sERRORobjective_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: 1788535049.25932884 seconds ×3 + 13.47sWARNros2_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 + 14.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.07sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.18sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788535050.07932138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965811 ms (missed cycles : 3). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965811 ms (missed cycles : 3).[0m ×2 + 14.36sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 14.38sINFOros2_control_node[2026-09-04 15:17:30.273] [info] Received new action goal ×2 + 14.38sINFOros2_control_node[2026-09-04 15:17:30.273] [info] Accepted new action goal ×2 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654319 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654319 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658163 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658163 ms (missed cycles : 2).[0m ×2 + 16.93sINFOros2_control_node[2026-09-04 15:17:32.829] [info] Received new action goal ×2 + 16.93sINFOros2_control_node[2026-09-04 15:17:32.829] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290908 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290908 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168677 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168677 ms (missed cycles : 4).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156275 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156275 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809247 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809247 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788535218.66269612 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.77sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.77sINFOobjective_server_nodecaller: ×8 + 3.77sINFOobjective_server_nodetype: 0 ×8 + 3.77sINFOobjective_server_nodename: "" ×8 + 3.77sINFOobjective_server_nodeinstance_id: "" ×8 + 3.77sINFOobjective_server_node ×8 + 3.83sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788535219.31375718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 15:20:19.447] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 15:20:19.447] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477783 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477783 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501731 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501731 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885856 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885856 ms (missed cycles : 4).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966240 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966240 ms (missed cycles : 3).[0m ×2 + 7.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041789 ms (missed cycles : 2). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041789 ms (missed cycles : 2).[0m ×2 + 9.23sINFOros2_control_nodeMuJoCo sim: 0.31% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294438 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294438 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 14.16sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.17sERRORobjective_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: 1788535229.65401101 seconds ×3 + 14.68sWARNros2_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 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.81sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.87sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.88sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.89sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 15.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.43sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.49sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.51sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.51sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 16.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.06sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.11sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 16.23sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 16.23sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.24sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 16.24sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 17.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 17.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 57 warnings · 187 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.40sINFOobjective_server_nodecaller: ×4 + 3.40sINFOobjective_server_nodetype: 0 ×4 + 3.40sINFOobjective_server_nodename: "" ×4 + 3.40sINFOobjective_server_nodeinstance_id: "" ×4 + 3.40sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 + 6.68sWARNros2_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 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460816 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460816 ms (missed cycles : 2).[0m ×2 + 8.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.00sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (2.85e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 8.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873515 ms (missed cycles : 4). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.873515 ms (missed cycles : 4).[0m ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 1 iterations (0.00360313 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 2 iterations (0.00505559 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 1 iterations (0.00328891 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (6.45e-07 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.23sINFOros2_control_node[2026-09-04 15:17:13.633] [info] Received new action goal ×2 + 9.23sINFOros2_control_node[2026-09-04 15:17:13.633] [info] Accepted new action goal ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687389 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687389 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859467 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859467 ms (missed cycles : 2).[0m ×2 + 11.49sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476839 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476839 ms (missed cycles : 2).[0m ×2 + 11.76sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.76sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.77sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.80sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788535036.19804215 seconds ×3 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240403 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240403 ms (missed cycles : 2).[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383811 ms (missed cycles : 4). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.383811 ms (missed cycles : 4).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.47sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788535038.87570596 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 14.68sINFOros2_control_node[2026-09-04 15:17:19.079] [info] Received new action goal ×2 + 14.68sINFOros2_control_node[2026-09-04 15:17:19.079] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449254 ms (missed cycles : 6). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.449254 ms (missed cycles : 6).[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733263 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733263 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616470 ms (missed cycles : 3). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616470 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 57 warnings · 135 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249223 ms (missed cycles : 5). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.249223 ms (missed cycles : 5).[0m ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538752 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538752 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266689 ms (missed cycles : 4). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266689 ms (missed cycles : 4).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422239 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422239 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278566 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278566 ms (missed cycles : 2).[0m ×2 + 12.28sWARNros2_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 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194479 ms (missed cycles : 4). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194479 ms (missed cycles : 4).[0m ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734573 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734573 ms (missed cycles : 2).[0m ×2 + 14.24sINFOobjective_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 + 14.24sERRORobjective_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: 1788535208.15744090 seconds ×3 + 14.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.79sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.84sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788535208.75285625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 15.13sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.14sINFOros2_control_node[2026-09-04 15:20:09.052] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-04 15:20:09.052] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440048 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440048 ms (missed cycles : 2).[0m ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399782 ms (missed cycles : 6). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399782 ms (missed cycles : 6).[0m ×2 + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078210 ms (missed cycles : 4). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078210 ms (missed cycles : 4).[0m ×2 + 17.42sWARNros2_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 | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836899 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836899 ms (missed cycles : 5).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274155 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274155 ms (missed cycles : 4).[0m ×2 + 1.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.47sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 1.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.49sINFOros2_control_node[2026-09-04 15:16:32.022] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-09-04 15:16:32.022] [info] Accepted new action goal ×2 + 2.12sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.13sINFOros2_control_node[2026-09-04 15:16:32.659] [info] Got request to cancel active goal. ×2 + 2.13sINFOros2_control_node[2026-09-04 15:16:32.659] [info] Canceling active goal... ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563010 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563010 ms (missed cycles : 3).[0m ×2 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788534992.67412996 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.68sINFOobjective_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: ""
+ 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.68sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.68sINFOobjective_server_nodecaller: ×6 + 2.68sINFOobjective_server_nodetype: 0 ×6 + 2.68sINFOobjective_server_nodename: "" ×6 + 2.68sINFOobjective_server_nodeinstance_id: "" ×6 + 2.68sINFOobjective_server_node ×6 + 2.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788534993.27889442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sWARNros2_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 + 2.96sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 2.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 2.97sINFOros2_control_node[2026-09-04 15:16:33.502] [info] Received new action goal ×2 + 2.97sINFOros2_control_node[2026-09-04 15:16:33.502] [info] Accepted new action goal ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079716 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.079716 ms (missed cycles : 5).[0m ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479478 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479478 ms (missed cycles : 2).[0m ×2 + 5.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.23sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 5.24sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.25sINFOros2_control_node[2026-09-04 15:16:35.783] [info] Received new action goal ×2 + 5.25sINFOros2_control_node[2026-09-04 15:16:35.783] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813655 ms (missed cycles : 5). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813655 ms (missed cycles : 5).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919070 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919070 ms (missed cycles : 2).[0m ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797027 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797027 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789320 ms (missed cycles : 6). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789320 ms (missed cycles : 6).[0m ×2 + 9.59sWARNros2_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 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105867 ms (missed cycles : 2). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105867 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 13.12sERRORobjective_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: 1788535003.64986587 seconds ×3 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 13.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.76sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 14.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.53sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.72sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 14.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.73sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 15.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.9s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.37sINFOros2_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 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.89sINFOobjective_server_nodecaller: ×8 + 2.89sINFOobjective_server_nodetype: 0 ×8 + 2.89sINFOobjective_server_nodename: "" ×8 + 2.89sINFOobjective_server_nodeinstance_id: "" ×8 + 2.89sINFOobjective_server_node ×8 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6).[0m ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109722 ms (missed cycles : 2). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109722 ms (missed cycles : 2).[0m ×2 + 7.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 8.35sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.38sINFOobjective_server_nodeFound path in 1 iterations (0.00254033 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.61sINFOros2_control_node[2026-09-04 15:16:50.009] [info] Received new action goal ×2 + 8.61sINFOros2_control_node[2026-09-04 15:16:50.009] [info] Accepted new action goal ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118624 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118624 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015103 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015103 ms (missed cycles : 2).[0m ×2 + 10.91sINFOros2_control_node[2026-09-04 15:16:52.311] [info] Received new action goal ×2 + 10.91sINFOros2_control_node[2026-09-04 15:16:52.311] [info] Accepted new action goal ×2 + 10.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054435 ms (missed cycles : 4). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054435 ms (missed cycles : 4).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 12.67sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.69sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 12.69sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 13.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 13.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 14.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 15.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.27sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.33sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.43sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 15.44sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.45sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 15.45sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 57 warnings · 2196 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814452 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814452 ms (missed cycles : 3).[0m ×2 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 1 iterations (0.00315577 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.37sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.39sINFOros2_control_node[2026-09-04 15:19:51.350] [info] Received new action goal ×2 + 8.39sINFOros2_control_node[2026-09-04 15:19:51.350] [info] Accepted new action goal ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.014521 ms (missed cycles : 8). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.014521 ms (missed cycles : 8).[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846652 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.846652 ms (missed cycles : 3).[0m ×2 + 10.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.69sINFOros2_control_node[2026-09-04 15:19:53.652] [info] Received new action goal ×2 + 10.69sINFOros2_control_node[2026-09-04 15:19:53.652] [info] Accepted new action goal ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 12.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.46sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 12.46sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 13.74sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 14.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.85sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 15.06sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 16.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 16.97sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 388 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_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 + 1.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535229.65401101 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×12 + 1.73sINFOobjective_server_nodecaller: ×12 + 1.73sINFOobjective_server_nodetype: 0 ×12 + 1.73sINFOobjective_server_nodename: "" ×12 + 1.73sINFOobjective_server_nodeinstance_id: "" ×12 + 1.73sINFOobjective_server_node ×12 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_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 + 2.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137656 ms (missed cycles : 5). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.137656 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.52sINFOros2_control_node[2026-09-04 15:20:35.034] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-09-04 15:20:35.034] [info] Accepted new action goal ×2 + 6.52sINFOros2_control_node[2026-09-04 15:20:35.034] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 6.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103985 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103985 ms (missed cycles : 5).[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798639 ms (missed cycles : 5). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.798639 ms (missed cycles : 5).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949127 ms (missed cycles : 2). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949127 ms (missed cycles : 2).[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2).[0m ×2 + 11.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 12.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4).[0m ×2 + 13.22sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 13.22sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 13.23sERRORobjective_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: 1788535241.74540925 seconds ×3 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[0m ×2 + 13.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.77sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 13.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 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 + 15.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.72sINFOobjective_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 + 15.72sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.72sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 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 + 16.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422239 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422239 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278566 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278566 ms (missed cycles : 2).[0m ×2 + 1.32sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194479 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194479 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734573 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734573 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1788535208.15744090 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.82sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.82sINFOobjective_server_nodecaller: ×4 + 3.82sINFOobjective_server_nodetype: 0 ×4 + 3.82sINFOobjective_server_nodename: "" ×4 + 3.82sINFOobjective_server_nodeinstance_id: "" ×4 + 3.82sINFOobjective_server_node ×4 + 3.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788535208.75285625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 15:20:09.052] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 15:20:09.052] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440048 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440048 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399782 ms (missed cycles : 6). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399782 ms (missed cycles : 6).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078210 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078210 ms (missed cycles : 4).[0m ×2 + 6.45sWARNros2_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 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199703 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199703 ms (missed cycles : 2).[0m ×2 + 8.19sINFOros2_control_node[2026-09-04 15:20:13.068] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-04 15:20:13.068] [info] Accepted new action goal ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385442 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385442 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275484 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.275484 ms (missed cycles : 4).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290908 ms (missed cycles : 5). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290908 ms (missed cycles : 5).[0m ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168677 ms (missed cycles : 4). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168677 ms (missed cycles : 4).[0m ×2 + 12.45sWARNros2_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 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156275 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156275 ms (missed cycles : 2).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809247 ms (missed cycles : 4). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809247 ms (missed cycles : 4).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788535218.66269612 seconds ×3 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.43sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788535219.31375718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 14.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.57sINFOros2_control_node[2026-09-04 15:20:19.447] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-09-04 15:20:19.447] [info] Accepted new action goal ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477783 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477783 ms (missed cycles : 3).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501731 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501731 ms (missed cycles : 4).[0m ×2 + 16.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885856 ms (missed cycles : 4). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885856 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4).[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535061.39794850 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.28sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.28sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.28sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.28sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.28sINFOobjective_server_nodecaller: ×6 + 2.28sINFOobjective_server_nodetype: 0 ×6 + 2.28sINFOobjective_server_nodename: "" ×6 + 2.28sINFOobjective_server_nodeinstance_id: "" ×6 + 2.28sINFOobjective_server_node ×6 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535062.07328010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535062.14341378 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.12sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 3.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.13sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 3.13sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 6.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.86sINFOobjective_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 + 6.87sINFOobjective_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 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.20sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 8.57sWARNros2_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 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 2.82sERRORobjective_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: 1788535241.74540925 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.37sINFOobjective_server_nodecaller: ×8 + 3.37sINFOobjective_server_nodetype: 0 ×8 + 3.37sINFOobjective_server_nodename: "" ×8 + 3.37sINFOobjective_server_nodeinstance_id: "" ×8 + 3.37sINFOobjective_server_node ×8 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 seconds ×3 + 5.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.31sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 + 6.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.50sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.57sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535245.49849677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5).[0m ×2 + 7.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535246.67862844 seconds ×3 + 7.79sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 33 warnings · 691 info |
+ 0.00sINFOcomponent_container_mt[2026-09-04 15:16:14.534] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.10sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.10sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.15sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.15sWARNros2_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 + 0.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.15sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.15sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.15sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.15sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.15sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.15sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.15sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.15sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.15sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.15sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.15sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.15sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.16sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.16sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.16sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.16sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.29sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.41sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.42sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.42sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.42sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.45sINFOros2_control_node[2026-09-04 15:16:14.980] [info] Controller state will be published at 20 Hz. ×2 + 0.45sINFOros2_control_node[2026-09-04 15:16:14.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.66sINFOros2_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 + 0.66sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.66sWARNros2_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 + 0.70sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.70sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.70sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.70sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.70sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.70sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.71sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.71sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.73sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.73sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.73sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.73sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.73sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 0.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101297 ms (missed cycles : 4). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101297 ms (missed cycles : 4).[0m ×2 + 0.74sINFOros2-8process has finished cleanly [pid 7325] ×2 + 0.75sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.75sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.04sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.04sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.05sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.05sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.09sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.09sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.09sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.09sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.09sINFOros2-3process has finished cleanly [pid 7309] ×2 + 1.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.10sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.10sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.40sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.40sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 7321] ×2 + 1.46sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.46sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.50sWARNobjective_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 + 1.51sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.51sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.52sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.52sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_node[2026-09-04 15:16:16.076] [info] Controller state will be published at 10 Hz. ×2 + 1.54sINFOros2_control_node[2026-09-04 15:16:16.077] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.77sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.84sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.84sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.84sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.85sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.85sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.88sINFOros2-7process has finished cleanly [pid 7324] ×2 + 1.88sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.88sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.88sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.88sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.89sINFOforce_torque_sensor_broadcasterconfigure successful + 1.89sINFOros2_control_nodeconfigure successful[0m ×2 + 1.89sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.89sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 1.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.90sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.90sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 2.19sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.21sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.23sINFOros2-2process has finished cleanly [pid 7308] ×2 + 2.28sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 2.28sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 2.32sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.32sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.32sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.32sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.34sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.34sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 2.35sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.51sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.51sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.52sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.52sINFOobjective_server_nodecaller: ×14 + 2.52sINFOobjective_server_nodetype: 0 ×14 + 2.52sINFOobjective_server_nodename: "" ×14 + 2.52sINFOobjective_server_nodeinstance_id: "" ×14 + 2.52sINFOobjective_server_node ×14 + 2.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 2.66sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.66sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.66sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 2.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 2.70sINFOros2-6process has finished cleanly [pid 7323] ×2 + 2.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.72sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.72sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.72sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.72sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.72sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.72sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.73sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.73sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.73sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.73sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.73sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.73sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.74sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.74sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 3.03sINFOros2-5process has finished cleanly [pid 7322] ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 3.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 4.22sWARNros2_control_nodeCamera render tick took 1.84 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 + 4.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 4.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.55sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 6.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 6.70sWARNros2_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 + 7.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 7.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sINFOobjective_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 + 7.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.84sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 7.84sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260457 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535061.39794850 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535062.07328010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535062.14341378 seconds ×3 + 3.51sWARNros2_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 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1788535229.65401101 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-04 15:16:52.311] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-04 15:16:52.311] [info] Accepted new action goal ×2 + 0.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054435 ms (missed cycles : 4). + 0.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.054435 ms (missed cycles : 4).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.54sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 6.08sWARNros2_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 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 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 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7321] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.10sWARNobjective_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 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.076] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.077] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7324] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 7308] ×2 + 0.88sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.88sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.12sINFOobjective_server_nodecaller: ×14 + 1.12sINFOobjective_server_nodetype: 0 ×14 + 1.12sINFOobjective_server_nodename: "" ×14 + 1.12sINFOobjective_server_nodeinstance_id: "" ×14 + 1.12sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 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 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.31sINFOros2-6process has finished cleanly [pid 7323] ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_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 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_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 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2-5process has finished cleanly [pid 7322] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 2.83sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4).[0m ×2 + 0.76sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.77sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 0.77sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 0.77sERRORobjective_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: 1788535241.74540925 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.32sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.32sINFOobjective_server_nodecaller: ×8 + 1.32sINFOobjective_server_nodetype: 0 ×8 + 1.32sINFOobjective_server_nodename: "" ×8 + 1.32sINFOobjective_server_nodeinstance_id: "" ×8 + 1.32sINFOobjective_server_node ×8 + 1.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 seconds ×3 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535245.49849677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5).[0m ×2 + 5.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535246.67862844 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067391 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067391 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608273 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608273 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_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 + 2.19sERRORobjective_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: 1788535229.65401101 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.70sWARNros2_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 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.79sINFOobjective_server_nodecaller: ×6 + 2.79sINFOobjective_server_nodetype: 0 ×6 + 2.79sINFOobjective_server_nodename: "" ×6 + 2.79sINFOobjective_server_nodeinstance_id: "" ×6 + 2.79sINFOobjective_server_node ×6 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.90sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.90sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.51sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 4.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.08sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.14sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.26sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4).[0m ×2 + 1.24sINFOobjective_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 + 1.24sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 1.24sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 1.25sERRORobjective_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: 1788535241.74540925 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[0m ×2 + 1.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.79sINFOobjective_server_nodecaller: ×8 + 1.79sINFOobjective_server_nodetype: 0 ×8 + 1.79sINFOobjective_server_nodename: "" ×8 + 1.79sINFOobjective_server_nodeinstance_id: "" ×8 + 1.79sINFOobjective_server_node ×8 + 1.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.74sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.74sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.74sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2).[0m ×2 + 4.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.28sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.34sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 + 4.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.92sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535245.49849677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.204223 ms (missed cycles : 5).[0m ×2 + 5.85sWARNros2_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 + 6.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535246.67862844 seconds ×3 + 6.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067391 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.067391 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2086 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.1s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 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 · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[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 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765389 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.169691 ms (missed cycles : 5).[0m ×2 + 2.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sERRORobjective_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: 1788535003.64986587 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424002 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.89sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.89sINFOobjective_server_nodecaller: ×4 + 2.89sINFOobjective_server_nodetype: 0 ×4 + 2.89sINFOobjective_server_nodename: "" ×4 + 2.89sINFOobjective_server_nodeinstance_id: "" ×4 + 2.89sINFOobjective_server_node ×4 + 2.94sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535004.33908463 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535004.41920710 seconds ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.720455 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535005.06608796 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:45.259] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806849 ms (missed cycles : 3).[0m ×2 + 4.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533825 ms (missed cycles : 6).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.420464 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907456 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-04 15:16:54.084] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120118 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535015.37046480 seconds ×3 + 1.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.77sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225115 ms (missed cycles : 6).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535015.98573542 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535016.07585359 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535016.72454906 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-09-04 15:16:56.849] [info] Accepted new action goal ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316105 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492798 ms (missed cycles : 4).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678441 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 78 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 0.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-04 15:17:04.997] [info] Accepted new action goal ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475599 ms (missed cycles : 4).[0m ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672959 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sERRORobjective_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: 1788535027.23470116 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616281 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.40sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.40sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.40sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.40sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.40sINFOobjective_server_nodecaller: ×2 + 3.40sINFOobjective_server_nodetype: 0 ×2 + 3.40sINFOobjective_server_nodename: "" ×2 + 3.40sINFOobjective_server_nodeinstance_id: "" ×2 + 3.40sINFOobjective_server_node ×2 + 3.46sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535027.86579466 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Received new action goal ×2 + 3.68sINFOros2_control_node[2026-09-04 15:17:08.080] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.217479 ms (missed cycles : 5).[0m ×2 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805877 ms (missed cycles : 3).[0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944034 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00496129 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925010 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925010 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2_control_node[2026-09-04 15:17:26.959] [info] Received new action goal ×2 + 0.51sINFOros2_control_node[2026-09-04 15:17:26.959] [info] Accepted new action goal ×2 + 0.91sINFOros2_control_node[2026-09-04 15:17:27.361] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-09-04 15:17:27.361] [info] Accepted new action goal ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243954 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243954 ms (missed cycles : 2).[0m ×2 + 2.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127163 ms (missed cycles : 2). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127163 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_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 + 2.81sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.81sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.81sERRORobjective_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: 1788535049.25932884 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788535050.07932138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965811 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965811 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.82sINFOros2_control_node[2026-09-04 15:17:30.273] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-04 15:17:30.273] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654319 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654319 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658163 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658163 ms (missed cycles : 2).[0m ×2 + 6.38sINFOros2_control_node[2026-09-04 15:17:32.829] [info] Received new action goal ×2 + 6.38sINFOros2_control_node[2026-09-04 15:17:32.829] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.260457 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.907827 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197875 ms (missed cycles : 4).[0m ×2 + 2.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535061.39794850 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.560921 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535062.07328010 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535062.14341378 seconds ×3 + 3.51sWARNros2_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 + 4.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.03sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.08sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 6.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 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: 1788535062.73523068 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-04 15:17:42.859] [info] Accepted new action goal ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783851 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297196 ms (missed cycles : 4).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535064.86537910 seconds ×3 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753692 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×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 + 3.23sINFOros2_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 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.816724 ms (missed cycles : 5).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535066.51171184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:17:46.929] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937074 ms (missed cycles : 2).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182273 ms (missed cycles : 5).[0m ×2 + 5.61sWARNros2_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 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475985 ms (missed cycles : 4).[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 2.946157 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946157 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609611 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609611 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024400 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024400 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788535121.34359407 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.82sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.82sINFOobjective_server_nodecaller: ×2 + 2.83sINFOobjective_server_nodetype: 0 ×2 + 2.83sINFOobjective_server_nodename: "" ×2 + 2.83sINFOobjective_server_nodeinstance_id: "" ×2 + 2.83sINFOobjective_server_node ×2 + 2.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535121.94541168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.04sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.05sINFOros2_control_node[2026-09-04 15:18:42.109] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-04 15:18:42.109] [info] Accepted new action goal ×2 + 3.11sWARNros2_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 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402815 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402815 ms (missed cycles : 3).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095337 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095337 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.32sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.38sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420070 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420070 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2086 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2086 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2086 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2086 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×333 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×333 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×666 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230646 ms (missed cycles : 4).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002252 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599246 ms (missed cycles : 2).[0m ×2 + 3.27sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.27sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535186.23079300 seconds ×3 + 3.27sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.27sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.36sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528239 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535186.94246984 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.07sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeFound path in 0 iterations (6.78e-07 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X_____X] ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-04 15:19:47.166] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.448818 ms (missed cycles : 4).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.027352 ms (missed cycles : 8).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829188 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 23 warnings · 74 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730156 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.969040 ms (missed cycles : 5).[0m ×2 + 1.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.49sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Received new action goal ×2 + 1.50sINFOros2_control_node[2026-09-04 15:19:55.416] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961191 ms (missed cycles : 3).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788535196.70263696 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764918 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535197.80671716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:19:58.021] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710178 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263566 ms (missed cycles : 4).[0m ×2 + 5.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961872 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422239 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422239 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278566 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278566 ms (missed cycles : 2).[0m ×2 + 1.32sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194479 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194479 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734573 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734573 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sERRORobjective_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: 1788535208.15744090 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788535208.75285625 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.17sINFOros2_control_node[2026-09-04 15:20:09.052] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-04 15:20:09.052] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440048 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440048 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399782 ms (missed cycles : 6). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.399782 ms (missed cycles : 6).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078210 ms (missed cycles : 4). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078210 ms (missed cycles : 4).[0m ×2 + 6.45sWARNros2_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 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290908 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.290908 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168677 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168677 ms (missed cycles : 4).[0m ×2 + 1.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156275 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156275 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809247 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.809247 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788535218.66269612 seconds ×3 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.77sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.77sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.77sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.77sINFOobjective_server_nodecaller: ×2 + 3.77sINFOobjective_server_nodetype: 0 ×2 + 3.77sINFOobjective_server_nodename: "" ×2 + 3.77sINFOobjective_server_nodeinstance_id: "" ×2 + 3.77sINFOobjective_server_node ×2 + 3.83sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788535219.31375718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-09-04 15:20:19.447] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-09-04 15:20:19.447] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477783 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477783 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501731 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501731 ms (missed cycles : 4).[0m ×2 + 5.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885856 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.885856 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1788535229.65401101 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1788535229.65401101 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1788535229.65401101 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413903 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150184 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sERRORobjective_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: 1788535229.65401101 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.72sWARNros2_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 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.80sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.80sINFOobjective_server_nodecaller: ×6 + 3.80sINFOobjective_server_nodetype: 0 ×6 + 3.80sINFOobjective_server_nodename: "" ×6 + 3.80sINFOobjective_server_nodeinstance_id: "" ×6 + 3.80sINFOobjective_server_node ×6 + 3.85sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.92sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.53sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.55sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 5.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.09sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.15sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.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 3.019874 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_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 + 1.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535229.65401101 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.73sINFOobjective_server_nodecaller: ×6 + 1.73sINFOobjective_server_nodetype: 0 ×6 + 1.73sINFOobjective_server_nodename: "" ×6 + 1.73sINFOobjective_server_nodeinstance_id: "" ×6 + 1.73sINFOobjective_server_node ×6 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_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 + 2.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_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 3.019874 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_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 + 1.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535229.65401101 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.73sINFOobjective_server_nodecaller: ×6 + 1.73sINFOobjective_server_nodetype: 0 ×6 + 1.73sINFOobjective_server_nodename: "" ×6 + 1.73sINFOobjective_server_nodeinstance_id: "" ×6 + 1.73sINFOobjective_server_node ×6 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_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 + 2.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.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 3.019874 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.019874 ms (missed cycles : 2).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264932 ms (missed cycles : 2).[0m ×2 + 1.13sINFOobjective_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 + 1.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535229.65401101 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.73sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.73sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.73sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.73sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.73sINFOobjective_server_nodecaller: ×6 + 1.73sINFOobjective_server_nodetype: 0 ×6 + 1.73sINFOobjective_server_nodename: "" ×6 + 1.73sINFOobjective_server_nodeinstance_id: "" ×6 + 1.73sINFOobjective_server_node ×6 + 1.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535230.29616308 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 1.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 1.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 1.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535230.37630033 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052036 ms (missed cycles : 4).[0m ×2 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535230.97417665 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.48sINFOobjective_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 + 2.48sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535230.99638844 seconds ×3 + 3.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.02sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.08sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535231.60076356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317437 ms (missed cycles : 2).[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 3.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Received new action goal ×2 + 3.21sINFOros2_control_node[2026-09-04 15:20:31.724] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058885 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968270 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 2.82sERRORobjective_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: 1788535241.74540925 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.37sINFOobjective_server_nodecaller: ×6 + 3.37sINFOobjective_server_nodetype: 0 ×6 + 3.37sINFOobjective_server_nodename: "" ×6 + 3.37sINFOobjective_server_nodeinstance_id: "" ×6 + 3.37sINFOobjective_server_node ×6 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 seconds ×3 + 5.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.31sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002478 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913312 ms (missed cycles : 2).[0m ×2 + 1.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.41 s); wrist_camera (1.41 s). The render path has stopped producing new frames for them.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.504806 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Got request to cancel active goal. ×2 + 2.82sINFOros2_control_node[2026-09-04 15:20:41.741] [info] Canceling active goal... ×2 + 2.82sERRORobjective_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: 1788535241.74540925 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679166 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.37sINFOobjective_server_nodecaller: ×6 + 3.37sINFOobjective_server_nodetype: 0 ×6 + 3.37sINFOobjective_server_nodename: "" ×6 + 3.37sINFOobjective_server_nodeinstance_id: "" ×6 + 3.37sINFOobjective_server_node ×6 + 3.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535242.34558606 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032989 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535243.63572359 seconds ×3 + 5.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.25sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.31sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535244.23634028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.31sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.31sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.31sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.31sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535244.23826003 seconds ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933790 ms (missed cycles : 2).[0m ×2 + 5.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.86sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535244.84311104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535244.84365129 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.795709 ms (missed cycles : 6).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.0s | 37 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/2026-09-04-15-16-10-123744-7186ef4f8fff-7259 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306014 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7307] ×2 + 0.87sINFOmove_group-9process started with pid [7348] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7349] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7350] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7351] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7352] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7353] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7354] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7355] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7356] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7357] ×2 + 0.87sINFOweb_bridge-19process started with pid [7358] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7434] ×2 + 0.87sINFOvideo_server-21process started with pid [7435] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7436] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7437] ×2 + 0.87sINFOros2-2process started with pid [7308] ×2 + 0.87sINFOros2-3process started with pid [7309] ×2 + 0.87sINFOros2-4process started with pid [7321] ×2 + 0.88sINFOros2-5process started with pid [7322] ×2 + 0.88sINFOros2-6process started with pid [7323] ×2 + 0.88sINFOros2-7process started with pid [7324] ×2 + 0.88sINFOros2-8process started with pid [7325] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.90sWARNros2_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 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306014 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF configuration loaded from /tmp/moveit-webrtc-3056esu3/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.55sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 15:16:12.231] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.09sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.09sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.11sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.11sINFOros2_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 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-04 15:16:12.728] [moveit_pro_license] [info] ×2 + 2.22sINFOwaypoint_manager_node************************************************* ×4 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609880 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609880 ms (missed cycles : 2).[0m ×2 + 2.30sINFOmove_group ×4 + 2.30sINFOmove_group[92mYou can start planning now![0m ×2 + 2.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.51sINFOobjective_server_node[2026-09-04 15:16:14.019] [moveit_pro_license] [info] ×2 + 3.51sINFOobjective_server_node************************************************* ×4 + 3.51sINFOobjective_server_node* MoveIt Pro License ×2 + 3.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.63sINFOobjective_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 + 3.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.64sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.03sINFOcomponent_container_mt[2026-09-04 15:16:14.534] [moveit_pro_license] [info] ×2 + 4.03sINFOcomponent_container_mt************************************************* ×4 + 4.03sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.03sINFOcomponent_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 + 4.13sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.13sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.18sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.18sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.18sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.18sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.18sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.18sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.18sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.18sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.18sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.18sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.18sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.18sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.18sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.18sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.18sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.18sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.18sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.18sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.18sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.31sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.31sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.31sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.31sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.43sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 4.43sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 4.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.45sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.47sINFOros2_control_node[2026-09-04 15:16:14.980] [info] Controller state will be published at 20 Hz. ×2 + 4.48sINFOros2_control_node[2026-09-04 15:16:14.981] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.69sINFOros2_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 + 4.69sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.69sWARNros2_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 + 4.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 4.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 4.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×3 + 4.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×6 + 4.77sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101297 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.101297 ms (missed cycles : 4).[0m ×2 + 4.77sINFOros2-8process has finished cleanly [pid 7325] ×2 + 4.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.07sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.07sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.07sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.07sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.08sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 5.08sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 5.12sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.12sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.12sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.12sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.12sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.12sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.12sINFOros2-3process has finished cleanly [pid 7309] ×2 + 5.13sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.13sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.13sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.13sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.43sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.43sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.43sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.46sINFOros2-4process has finished cleanly [pid 7321] ×2 + 5.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 5.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 5.52sWARNobjective_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 + 5.54sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.54sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.54sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.54sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.57sINFOros2_control_node[2026-09-04 15:16:16.076] [info] Controller state will be published at 10 Hz. ×2 + 5.57sINFOros2_control_node[2026-09-04 15:16:16.077] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.80sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.87sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.87sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.87sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.87sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.87sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 5.88sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 5.91sINFOros2-7process has finished cleanly [pid 7324] ×2 + 5.91sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.91sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.91sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.91sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.92sINFOforce_torque_sensor_broadcasterconfigure successful + 5.92sINFOros2_control_nodeconfigure successful[0m ×2 + 5.92sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.92sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.93sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.93sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 5.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 6.21sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.23sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.23sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.24sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.25sINFOros2-2process has finished cleanly [pid 7308] ×2 + 6.31sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 6.31sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 6.34sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.34sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.35sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.35sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.54sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.54sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.54sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.54sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.54sINFOobjective_server_nodecaller: ×10 + 6.54sINFOobjective_server_nodetype: 0 ×10 + 6.54sINFOobjective_server_nodename: "" ×10 + 6.54sINFOobjective_server_nodeinstance_id: "" ×10 + 6.54sINFOobjective_server_node ×10 + 6.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 6.69sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.69sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.69sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.69sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 6.69sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 6.73sINFOros2-6process has finished cleanly [pid 7323] ×2 + 6.75sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.75sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.75sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.75sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.76sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.76sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.76sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.76sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.77sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.77sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 7.06sINFOros2-5process has finished cleanly [pid 7322] ×2 + 7.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.14sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 8.25sWARNros2_control_nodeCamera render tick took 1.84 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 + 8.30sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 8.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.86sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 9.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.58sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 10.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.19sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 10.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 384 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7323] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7322] ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.45sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.45sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.45sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.45sINFOobjective_server_nodecaller: ×12 + 0.45sINFOobjective_server_nodetype: 0 ×12 + 0.45sINFOobjective_server_nodename: "" ×12 + 0.45sINFOobjective_server_nodeinstance_id: "" ×12 + 0.45sINFOobjective_server_node ×12 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 1.56sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 4.03sWARNros2_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 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.18sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 7.51sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 7.68sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.69sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 7.69sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 455 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7308] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.33sINFOobjective_server_nodecaller: ×14 + 0.33sINFOobjective_server_nodetype: 0 ×14 + 0.33sINFOobjective_server_nodename: "" ×14 + 0.33sINFOobjective_server_nodeinstance_id: "" ×14 + 0.33sINFOobjective_server_node ×14 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 7323] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7322] ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 2.04sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.65sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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/2026-09-04-15-16-10-123744-7186ef4f8fff-7259 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306014 ms (missed cycles : 3). + 0.87sINFOros2_control_node-1process started with pid [7307] ×2 + 0.87sINFOmove_group-9process started with pid [7348] ×2 + 0.87sINFOparameter_manager_node-10process started with pid [7349] ×2 + 0.87sINFOwaypoint_manager_node-11process started with pid [7350] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7351] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7352] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7353] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7354] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7355] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7356] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7357] ×2 + 0.87sINFOweb_bridge-19process started with pid [7358] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7434] ×2 + 0.87sINFOvideo_server-21process started with pid [7435] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7436] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7437] ×2 + 0.87sINFOros2-2process started with pid [7308] ×2 + 0.87sINFOros2-3process started with pid [7309] ×2 + 0.87sINFOros2-4process started with pid [7321] ×2 + 0.88sINFOros2-5process started with pid [7322] ×2 + 0.88sINFOros2-6process started with pid [7323] ×2 + 0.88sINFOros2-7process started with pid [7324] ×2 + 0.88sINFOros2-8process started with pid [7325] ×2 + 0.88sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.88sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.90sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.90sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.90sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.90sWARNros2_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 + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306014 ms (missed cycles : 3).[0m ×2 + 0.91sINFOcontroller_managerReceived robot description from topic. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.93sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.93sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF configuration loaded from /tmp/moveit-webrtc-3056esu3/mediamtx.yml ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.08sINFOvideo_server2026/09/04 15:16:11 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.13sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.55sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.55sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.73sINFOmove_group[2026-09-04 15:16:12.231] [moveit_pro_license] [info] ×2 + 1.73sINFOmove_group************************************************* ×4 + 1.73sINFOmove_group* MoveIt Pro License ×2 + 1.73sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.06sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.09sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.09sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.09sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.09sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.11sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.11sINFOros2_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 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.22sINFOwaypoint_manager_node[2026-09-04 15:16:12.728] [moveit_pro_license] [info] ×2 + 2.22sINFOwaypoint_manager_node************************************************* ×4 + 2.22sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.22sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609880 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609880 ms (missed cycles : 2).[0m ×2 + 2.30sINFOmove_group ×4 + 2.30sINFOmove_group[92mYou can start planning now![0m ×2 + 2.35sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.51sINFOobjective_server_node[2026-09-04 15:16:14.019] [moveit_pro_license] [info] ×2 + 3.51sINFOobjective_server_node************************************************* ×4 + 3.51sINFOobjective_server_node* MoveIt Pro License ×2 + 3.51sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.63sINFOobjective_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 + 3.63sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.64sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.64sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7321] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.10sWARNobjective_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 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.076] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.077] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7324] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 7308] ×2 + 0.88sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.88sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.12sINFOobjective_server_nodecaller: ×14 + 1.12sINFOobjective_server_nodetype: 0 ×14 + 1.12sINFOobjective_server_nodename: "" ×14 + 1.12sINFOobjective_server_nodeinstance_id: "" ×14 + 1.12sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 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 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.31sINFOros2-6process has finished cleanly [pid 7323] ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_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 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_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 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2-5process has finished cleanly [pid 7322] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 2.83sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7321] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.10sWARNobjective_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 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.076] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.077] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7324] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 7308] ×2 + 0.88sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.88sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.12sINFOobjective_server_nodecaller: ×14 + 1.12sINFOobjective_server_nodetype: 0 ×14 + 1.12sINFOobjective_server_nodename: "" ×14 + 1.12sINFOobjective_server_nodeinstance_id: "" ×14 + 1.12sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 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 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.31sINFOros2-6process has finished cleanly [pid 7323] ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_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 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_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 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2-5process has finished cleanly [pid 7322] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 2.83sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 537 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-4process has finished cleanly [pid 7321] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.10sWARNobjective_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 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.076] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.077] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.45sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.45sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.45sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.48sINFOros2-7process has finished cleanly [pid 7324] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.49sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] ×2 + 0.50sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.50sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.50sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.50sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] ×2 + 0.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×4 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.81sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.83sINFOros2-2process has finished cleanly [pid 7308] ×2 + 0.88sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.88sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.92sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.94sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.12sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.12sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.12sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.12sINFOobjective_server_nodecaller: ×14 + 1.12sINFOobjective_server_nodetype: 0 ×14 + 1.12sINFOobjective_server_nodename: "" ×14 + 1.12sINFOobjective_server_nodeinstance_id: "" ×14 + 1.12sINFOobjective_server_node ×14 + 1.17sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 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 + 1.27sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 1.27sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 1.31sINFOros2-6process has finished cleanly [pid 7323] ×2 + 1.33sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.33sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.33sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.33sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.33sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.33sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.33sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.33sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_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 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_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 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 1.64sINFOros2-5process has finished cleanly [pid 7322] ×2 + 1.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.72sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 2.83sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 2.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.44sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 5.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 6.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.23sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.30sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.31sINFOobjective_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 + 6.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 455 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.04sINFOros2-2process has finished cleanly [pid 7308] ×2 + 0.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-09-04 15:16:16.851] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.874] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-09-04 15:16:16.874] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-09-04 15:16:16.879] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.33sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.33sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.33sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.33sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.33sINFOobjective_server_nodecaller: ×14 + 0.33sINFOobjective_server_nodetype: 0 ×14 + 0.33sINFOobjective_server_nodename: "" ×14 + 0.33sINFOobjective_server_nodeinstance_id: "" ×14 + 0.33sINFOobjective_server_node ×14 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788534977.10049582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788534977.11073947 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.47sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.48sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.52sINFOros2-6process has finished cleanly [pid 7323] ×2 + 0.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.54sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.54sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.55sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.55sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 0.85sINFOros2-5process has finished cleanly [pid 7322] ×2 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 2.04sWARNros2_control_nodeCamera render tick took 1.84 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 + 2.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 4.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.89sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.89sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 5.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.45sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.51sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_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 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.63sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 5.64sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.65sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 5.66sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 368 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_piy1pia3 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ybgosuwa --params-file /tmp/launch_params_zsll04l_ [0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 7323] ×2 + 0.06sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.07sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.07sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.07sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.505893 ms (missed cycles : 4).[0m ×2 + 0.37sINFOros2-5process has finished cleanly [pid 7322] ×2 + 0.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.45sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.45sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.45sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.45sINFOobjective_server_nodecaller: ×12 + 0.45sINFOobjective_server_nodetype: 0 ×12 + 0.45sINFOobjective_server_nodename: "" ×12 + 0.45sINFOobjective_server_nodeinstance_id: "" ×12 + 0.45sINFOobjective_server_node ×12 + 0.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788534977.69457650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 1.56sWARNros2_control_nodeCamera render tick took 1.84 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 + 1.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.22sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.28sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.89sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 4.03sWARNros2_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 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788534981.57869577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.41sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.41sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[0m ×2 + 4.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788534982.22858119 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 5.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.18sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 5.18sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863478 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.863478 ms (missed cycles : 5).[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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [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 4.974952 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974952 ms (missed cycles : 3).[0m ×2 + 0.24sWARNros2_control_nodeCamera render tick took 1.84 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 + 0.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788534978.80473399 seconds ×3 + 0.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.32sINFOros2_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: 1788534979.42041492 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788534979.48061514 seconds ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665284 ms (missed cycles : 3).[0m ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788534980.13489103 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788534980.15501213 seconds ×3 + 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: 1788534980.74753284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.899253 ms (missed cycles : 5).[0m ×2 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788534980.89807558 seconds ×3 + 2.71sWARNros2_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 + 3.01sINFOobjective_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: 1788534981.57869577 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 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788534981.62881923 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017496 ms (missed cycles : 4).[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: 1788534982.22858119 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 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.26e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Received new action goal ×2 + 3.86sINFOros2_control_node[2026-09-04 15:16:22.374] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547433 ms (missed cycles : 4).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797566 ms (missed cycles : 2).[0m ×2 + 6.19sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 6.36sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-09-04 15:16:24.883] [info] Accepted new action goal ×2 | ||||