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 | 42.2s | 152 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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_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 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 7.12sINFOros2_control_node[2026-09-04 15:29:44.826] [info] Received new action goal ×2 + 7.12sINFOros2_control_node[2026-09-04 15:29:44.826] [info] Accepted new action goal ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936684 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.936684 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499765 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499765 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100393 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100393 ms (missed cycles : 2).[0m ×2 + 10.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.45sINFOros2_control_node[2026-09-04 15:29:48.155] [info] Received new action goal ×2 + 10.45sINFOros2_control_node[2026-09-04 15:29:48.155] [info] Accepted new action goal ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472440 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472440 ms (missed cycles : 3).[0m ×2 + 11.50sWARNros2_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 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203062 ms (missed cycles : 7). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.203062 ms (missed cycles : 7).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837089 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837089 ms (missed cycles : 2).[0m ×2 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.48sINFOros2_control_node[2026-09-04 15:29:51.188] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-09-04 15:29:51.188] [info] Accepted new action goal ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020057 ms (missed cycles : 7). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.020057 ms (missed cycles : 7).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769356 ms (missed cycles : 2). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769356 ms (missed cycles : 2).[0m ×2 + 16.43sINFOobjective_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 + 16.44sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.44sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.44sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.44sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207707 ms (missed cycles : 5). + 16.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.207707 ms (missed cycles : 5).[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713436 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713436 ms (missed cycles : 3).[0m ×2 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284831 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284831 ms (missed cycles : 2).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.893065 ms (missed cycles : 8). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.893065 ms (missed cycles : 8).[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819359 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819359 ms (missed cycles : 2).[0m ×2 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022663 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022663 ms (missed cycles : 2).[0m ×2 + 22.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169570 ms (missed cycles : 2). + 22.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169570 ms (missed cycles : 2).[0m ×2 + 23.20sINFOobjective_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 + 23.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.21sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.21sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.21sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.21sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769384 ms (missed cycles : 3). + 24.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769384 ms (missed cycles : 3).[0m ×2 + 24.14sINFOros2_control_node[2026-09-04 15:30:01.845] [info] Received new action goal ×2 + 24.14sINFOros2_control_node[2026-09-04 15:30:01.845] [info] Accepted new action goal ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608129 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608129 ms (missed cycles : 2).[0m ×2 + 25.30sINFOobjective_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 + 25.31sINFOobjective_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 + 25.60sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 25.61sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.65sINFOros2_control_node[2026-09-04 15:30:03.358] [info] Received new action goal ×2 + 25.65sINFOros2_control_node[2026-09-04 15:30:03.358] [info] Accepted new action goal ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918699 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918699 ms (missed cycles : 3).[0m ×2 + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840723 ms (missed cycles : 2). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840723 ms (missed cycles : 2).[0m ×2 + 27.80sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 27.80sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.82sINFOros2_control_node[2026-09-04 15:30:05.526] [info] Received new action goal ×2 + 27.82sINFOros2_control_node[2026-09-04 15:30:05.526] [info] Accepted new action goal ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416591 ms (missed cycles : 3). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416591 ms (missed cycles : 3).[0m ×2 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892243 ms (missed cycles : 3). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.892243 ms (missed cycles : 3).[0m ×2 + 29.74sWARNros2_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 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.574705 ms (missed cycles : 7). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.574705 ms (missed cycles : 7).[0m ×2 + 30.95sINFOros2_control_node[2026-09-04 15:30:08.656] [info] Received new action goal ×2 + 30.95sINFOros2_control_node[2026-09-04 15:30:08.656] [info] Accepted new action goal ×2 + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267993 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267993 ms (missed cycles : 2).[0m ×2 + 32.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093879 ms (missed cycles : 2). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.093879 ms (missed cycles : 2).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678672 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678672 ms (missed cycles : 2).[0m ×2 + 33.54sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 33.55sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.59sINFOros2_control_node[2026-09-04 15:30:11.298] [info] Received new action goal ×2 + 33.59sINFOros2_control_node[2026-09-04 15:30:11.298] [info] Accepted new action goal ×2 + 34.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448140 ms (missed cycles : 6). + 34.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448140 ms (missed cycles : 6).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933918 ms (missed cycles : 3). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.933918 ms (missed cycles : 3).[0m ×2 + 36.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259783 ms (missed cycles : 3). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.259783 ms (missed cycles : 3).[0m ×2 + 37.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693294 ms (missed cycles : 5). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693294 ms (missed cycles : 5).[0m ×2 + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718184 ms (missed cycles : 2). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718184 ms (missed cycles : 2).[0m ×2 + 40.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989417 ms (missed cycles : 4). + 40.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.989417 ms (missed cycles : 4).[0m ×2 + 40.98sINFOros2_control_nodeMuJoCo sim: 0.46% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120003 ms (missed cycles : 2). + 41.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120003 ms (missed cycles : 2).[0m ×2 + 42.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289223 ms (missed cycles : 4). + 42.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289223 ms (missed cycles : 4).[0m ×2 + 42.72sWARNros2_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 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823513 ms (missed cycles : 4). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823513 ms (missed cycles : 4).[0m ×2 + 44.24sINFOros2_control_node[2026-09-04 15:30:21.945] [info] Received new action goal ×2 + 44.24sINFOros2_control_node[2026-09-04 15:30:21.945] [info] Accepted new action goal ×2 + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836622 ms (missed cycles : 3). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836622 ms (missed cycles : 3).[0m ×2 + 45.39sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788535823.10148978 seconds ×3 + 45.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046985 ms (missed cycles : 2). + 45.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046985 ms (missed cycles : 2).[0m ×2 + 45.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.99sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.19sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788535823.90377593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118650 ms (missed cycles : 2). + 46.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118650 ms (missed cycles : 2).[0m ×2 + 47.47sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 47.49sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.50sINFOros2_control_node[2026-09-04 15:30:25.209] [info] Received new action goal ×2 + 47.50sINFOros2_control_node[2026-09-04 15:30:25.209] [info] Accepted new action goal ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039520 ms (missed cycles : 5). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039520 ms (missed cycles : 5).[0m ×2 + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066712 ms (missed cycles : 4). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066712 ms (missed cycles : 4).[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 | 42.0s | 9 errors · 157 warnings · 17154 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907254 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907254 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.767572 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.767572 ms (missed cycles : 6).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379337 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379337 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788535834.96395636 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832288 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832288 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535835.56225157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.70sINFOros2_control_node[2026-09-04 15:30:35.746] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-04 15:30:35.746] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702909 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702909 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_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 + 4.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 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_admittance_controller ×6 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531038 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531038 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2). + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2).[0m ×2 + 7.18sINFOjoint_trajectory_controllerReceived new action goal ×2815 + 7.18sINFOjoint_trajectory_controllerAccepted new action goal ×2813 + 7.18sINFOros2_control_nodeReceived new action goal[0m ×5630 + 7.18sINFOros2_control_nodeAccepted new action goal[0m ×5626 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963985 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963985 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245888 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.245888 ms (missed cycles : 4).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895823 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895823 ms (missed cycles : 3).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667390 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667390 ms (missed cycles : 2).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560937 ms (missed cycles : 4). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560937 ms (missed cycles : 4).[0m ×2 + 12.03sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.03sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.61sWARNros2_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 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821765 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821765 ms (missed cycles : 2).[0m ×2 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706204 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706204 ms (missed cycles : 2).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977509 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977509 ms (missed cycles : 2).[0m ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.050872 ms (missed cycles : 7). + 15.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.050872 ms (missed cycles : 7).[0m ×2 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677745 ms (missed cycles : 2). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677745 ms (missed cycles : 2).[0m ×2 + 17.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835451 ms (missed cycles : 2). + 17.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835451 ms (missed cycles : 2).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801932 ms (missed cycles : 2). + 18.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801932 ms (missed cycles : 2).[0m ×2 + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867735 ms (missed cycles : 2). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867735 ms (missed cycles : 2).[0m ×2 + 20.60sWARNros2_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 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987946 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.987946 ms (missed cycles : 2).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522056 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522056 ms (missed cycles : 2).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531277 ms (missed cycles : 3). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531277 ms (missed cycles : 3).[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560028 ms (missed cycles : 2). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.560028 ms (missed cycles : 2).[0m ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732400 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732400 ms (missed cycles : 2).[0m ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886263 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886263 ms (missed cycles : 2).[0m ×2 + 27.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717062 ms (missed cycles : 2). + 27.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717062 ms (missed cycles : 2).[0m ×2 + 27.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077975 ms (missed cycles : 4). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077975 ms (missed cycles : 4).[0m ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986860 ms (missed cycles : 5). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.986860 ms (missed cycles : 5).[0m ×2 + 30.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677358 ms (missed cycles : 2). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677358 ms (missed cycles : 2).[0m ×2 + 30.77sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 30.77sINFOros2_control_nodeGoal reached, success![0m ×4 + 30.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1788535860.243169) that ends in the past (1788535862.803169) + 30.77sERRORros2_control_nodeReceived trajectory with non-zero start time (1788535860.243169) that ends in the past (1788535862.803169)[0m ×2 + 30.77sERRORjoint_trajectory_controllerReceived trajectory with non-zero start time (1788535860.243169) that ends in the past (1788535862.813169) + 30.78sERRORobjective_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 + 30.79sERRORros2_control_nodeReceived trajectory with non-zero start time (1788535860.243169) that ends in the past (1788535862.813169)[0m ×2 + 31.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362262 ms (missed cycles : 2). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362262 ms (missed cycles : 2).[0m ×2 + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640860 ms (missed cycles : 2). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640860 ms (missed cycles : 2).[0m ×2 + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205899 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205899 ms (missed cycles : 3).[0m ×2 + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002886 ms (missed cycles : 2). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002886 ms (missed cycles : 2).[0m ×2 + 34.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.60 s); wrist_camera (1.60 s). The render path has stopped producing new frames for them.[0m ×2 + 35.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362295 ms (missed cycles : 6). + 35.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.362295 ms (missed cycles : 6).[0m ×2 + 36.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481765 ms (missed cycles : 3). + 36.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481765 ms (missed cycles : 3).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830410 ms (missed cycles : 2). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830410 ms (missed cycles : 2).[0m ×2 + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063290 ms (missed cycles : 2). + 38.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063290 ms (missed cycles : 2).[0m ×2 + 39.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053690 ms (missed cycles : 2). + 39.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053690 ms (missed cycles : 2).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759615 ms (missed cycles : 2). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759615 ms (missed cycles : 2).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996214 ms (missed cycles : 3). + 41.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996214 ms (missed cycles : 3).[0m ×2 + 42.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835350 ms (missed cycles : 2). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835350 ms (missed cycles : 2).[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175378 ms (missed cycles : 2). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175378 ms (missed cycles : 2).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168853 ms (missed cycles : 3). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168853 ms (missed cycles : 3).[0m ×2 + 44.91sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535876.95404863 seconds ×3 + 44.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 44.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 44.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 44.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 44.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 44.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 45.46sINFOobjective_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: ""
+ 45.46sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 45.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535877.59797454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 45.60sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 45.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 45.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 45.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 45.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 45.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 45.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 45.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 45.70sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 45.71sINFOros2_control_node[2026-09-04 15:31:17.751] [info] Received new action goal ×2 + 45.71sINFOros2_control_node[2026-09-04 15:31:17.751] [info] Accepted new action goal ×2 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854080 ms (missed cycles : 2). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854080 ms (missed cycles : 2).[0m ×2 + 46.64sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668400 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668400 ms (missed cycles : 2).[0m ×2 + 47.26sWARNros2_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 + 47.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586061 ms (missed cycles : 2). + 47.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586061 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 | 92 warnings · 13020 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2137 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2137 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4274 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4274 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835350 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835350 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175378 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175378 ms (missed cycles : 2).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168853 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168853 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535876.95404863 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.86sINFOobjective_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: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.86sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.86sINFOobjective_server_nodecaller: ×4 + 3.86sINFOobjective_server_nodetype: 0 ×4 + 3.86sINFOobjective_server_nodename: "" ×4 + 3.86sINFOobjective_server_nodeinstance_id: "" ×4 + 3.86sINFOobjective_server_node ×4 + 3.95sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535877.59797454 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.11sINFOros2_control_node[2026-09-04 15:31:17.751] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-04 15:31:17.751] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854080 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854080 ms (missed cycles : 2).[0m ×2 + 5.04sINFOros2_control_nodeMuJoCo sim: 0.45% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668400 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.668400 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.40sINFOobjective_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 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586061 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.586061 ms (missed cycles : 2).[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436820 ms (missed cycles : 3). + 7.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.436820 ms (missed cycles : 3).[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518443 ms (missed cycles : 3). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518443 ms (missed cycles : 3).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701846 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701846 ms (missed cycles : 2).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809762 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809762 ms (missed cycles : 2).[0m ×2 + 11.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.46 s); wrist_camera (1.46 s). The render path has stopped producing new frames for them.[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487558 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487558 ms (missed cycles : 2).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789454 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789454 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318445 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318445 ms (missed cycles : 2).[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679640 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679640 ms (missed cycles : 2).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720769 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720769 ms (missed cycles : 2).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763212 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763212 ms (missed cycles : 2).[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945971 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945971 ms (missed cycles : 2).[0m ×2 + 18.05sWARNros2_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 ×4 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872989 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872989 ms (missed cycles : 2).[0m ×2 + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725907 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725907 ms (missed cycles : 2).[0m ×2 + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676647 ms (missed cycles : 2). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676647 ms (missed cycles : 2).[0m ×2 + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621522 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621522 ms (missed cycles : 2).[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 24.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 24.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 25.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 26.05sINFOobjective_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: ""
+ 26.05sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.33sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 26.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.35sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 12.2s | 3 errors · 60 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sERRORobjective_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: 1788535717.86362958 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.43sINFOobjective_server_nodecaller: ×8 + 2.43sINFOobjective_server_nodetype: 0 ×8 + 2.43sINFOobjective_server_nodename: "" ×8 + 2.43sINFOobjective_server_nodeinstance_id: "" ×8 + 2.43sINFOobjective_server_node ×8 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 4.20sWARNros2_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 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.964112 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.964112 ms (missed cycles : 6).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664539 ms (missed cycles : 4). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.664539 ms (missed cycles : 4).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319576 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.319576 ms (missed cycles : 2).[0m ×2 + 8.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 1 iterations (0.00288185 s). ×2 + 9.16sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.24sINFOros2_control_node[2026-09-04 15:28:45.311] [info] Received new action goal ×2 + 9.24sINFOros2_control_node[2026-09-04 15:28:45.311] [info] Accepted new action goal ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510528 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510528 ms (missed cycles : 4).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266162 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266162 ms (missed cycles : 2).[0m ×2 + 11.54sINFOros2_control_node[2026-09-04 15:28:47.614] [info] Received new action goal ×2 + 11.54sINFOros2_control_node[2026-09-04 15:28:47.614] [info] Accepted new action goal ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313490 ms (missed cycles : 4). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313490 ms (missed cycles : 4).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 13.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.48sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 14.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 15.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 15.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 16.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.21sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 16.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 16.22sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 16.22sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 16.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00379936 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.50sINFOros2_control_node[2026-09-04 15:29:21.805] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-04 15:29:21.805] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928620 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928620 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2_control_node[2026-09-04 15:29:22.208] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-04 15:29:22.208] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397132 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397132 ms (missed cycles : 2).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sWARNros2_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 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411051 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411051 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1788535764.36251426 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.76sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.76sINFOobjective_server_nodecaller: ×6 + 3.76sINFOobjective_server_nodetype: 0 ×6 + 3.76sINFOobjective_server_nodename: "" ×6 + 3.76sINFOobjective_server_nodeinstance_id: "" ×6 + 3.76sINFOobjective_server_node ×6 + 3.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788535765.18418884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058989 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058989 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 15:29:25.358] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 15:29:25.358] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743090 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743090 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354121 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354121 ms (missed cycles : 4).[0m ×2 + 6.55sINFOros2_control_node[2026-09-04 15:29:27.859] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-04 15:29:27.859] [info] Accepted new action goal ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100355 ms (missed cycles : 2). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100355 ms (missed cycles : 2).[0m ×2 + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321772 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321772 ms (missed cycles : 2).[0m ×2 + 8.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441270 ms (missed cycles : 2). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441270 ms (missed cycles : 2).[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709627 ms (missed cycles : 5). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.709627 ms (missed cycles : 5).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639718 ms (missed cycles : 5). + 11.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.639718 ms (missed cycles : 5).[0m ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220852 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220852 ms (missed cycles : 2).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2).[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5).[0m ×2 + 15.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535776.43077159 seconds ×3 + 15.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.73sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535777.09525967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4).[0m ×2 + 15.86sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535777.16539884 seconds ×3 + 16.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.40sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.45sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.58sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 16.58sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.60sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 16.60sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 18.60sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 62 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289223 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289223 ms (missed cycles : 4).[0m ×2 + 0.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823513 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823513 ms (missed cycles : 4).[0m ×2 + 1.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.12sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.12sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.12sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.12sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.00sINFOros2_control_node[2026-09-04 15:30:21.945] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-09-04 15:30:21.945] [info] Accepted new action goal ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836622 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836622 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788535823.10148978 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_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 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046985 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046985 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.96sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788535823.90377593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118650 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.118650 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.24sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.26sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.27sINFOros2_control_node[2026-09-04 15:30:25.209] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-09-04 15:30:25.209] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039520 ms (missed cycles : 5). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.039520 ms (missed cycles : 5).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066712 ms (missed cycles : 4). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066712 ms (missed cycles : 4).[0m ×2 + 7.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159984 ms (missed cycles : 5). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159984 ms (missed cycles : 5).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990733 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990733 ms (missed cycles : 2).[0m ×2 + 8.96sINFOobjective_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 + 8.97sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.97sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.97sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.97sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672443 ms (missed cycles : 5). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.672443 ms (missed cycles : 5).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171896 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171896 ms (missed cycles : 2).[0m ×2 + 11.38sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 11.40sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.42sINFOros2_control_node[2026-09-04 15:30:31.359] [info] Received new action goal ×2 + 11.42sINFOros2_control_node[2026-09-04 15:30:31.359] [info] Accepted new action goal ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907254 ms (missed cycles : 3). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907254 ms (missed cycles : 3).[0m ×2 + 13.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.767572 ms (missed cycles : 6). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.767572 ms (missed cycles : 6).[0m ×2 + 13.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379337 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379337 ms (missed cycles : 3).[0m ×2 + 15.02sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788535834.96395636 seconds ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832288 ms (missed cycles : 5). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832288 ms (missed cycles : 5).[0m ×2 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.57sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535835.56225157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 15.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.81sINFOros2_control_node[2026-09-04 15:30:35.746] [info] Received new action goal ×2 + 15.81sINFOros2_control_node[2026-09-04 15:30:35.746] [info] Accepted new action goal ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702909 ms (missed cycles : 5). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702909 ms (missed cycles : 5).[0m ×2 + 17.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.08sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531038 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531038 ms (missed cycles : 2).[0m ×2 + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2). + 18.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 57 errors · 39 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 0.62sINFOobjective_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 + 0.63sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 0.63sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 0.63sERRORobjective_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: 1788535954.45295453 seconds ×3 + 0.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.65sINFOros2_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 4.160319 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.18sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.18sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.18sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.18sINFOobjective_server_nodecaller: ×8 + 1.18sINFOobjective_server_nodetype: 0 ×8 + 1.18sINFOobjective_server_nodename: "" ×8 + 1.18sINFOobjective_server_nodeinstance_id: "" ×8 + 1.18sINFOobjective_server_node ×8 + 1.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 2.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.24sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.30sINFOobjective_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 + 2.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 2.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535958.57876301 seconds ×3 + 4.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484397 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484397 ms (missed cycles : 4).[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482354 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482354 ms (missed cycles : 5).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022040 ms (missed cycles : 3). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022040 ms (missed cycles : 3).[0m ×2 + 8.67sWARNros2_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 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945191 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945191 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784911 ms (missed cycles : 5). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784911 ms (missed cycles : 5).[0m ×2 + 10.40sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.40sERRORobjective_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 + 10.41sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.41sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.41sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.41sERRORweb_video_auth_proxy-23process has died [pid 7453, 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 + 10.42sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.42sERRORweb_bridge_auth_proxy-22process has died [pid 7452, 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 + 10.42sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.42sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.43sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.43sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.43sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.44sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.44sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.45sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.45sINFOvideo_server-21process has finished cleanly [pid 7451] ×2 + 10.45sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.46sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.46sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.47sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.47sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.47sINFOcontroller_managerShutdown request received.... + 10.47sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.47sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.47sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.47sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.47sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.47sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.47sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.47sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.47sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.47sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.47sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.47sINFOvideo_server2026/09/04 15:32:44 INF shutting down gracefully ×2 + 10.47sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.47sINFOvideo_server2026/09/04 15:32:44 INF [WebRTC] closing ×2 + 10.47sINFOvideo_server2026/09/04 15:32:44 INF [RTSP] closing ×2 + 10.47sINFOcontroller_managerShutting down the controller manager. + 10.47sINFOvideo_server2026/09/04 15:32:44 INF waiting for running hooks ×2 + 10.48sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.48sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.48sERRORmove_groupStack trace (most recent call last) in thread 7799: ×2 + 10.48sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.48sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.48sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.48sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.48sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.48sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.48sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.48sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.48sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.48sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.48sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.48sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.48sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.48sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b28dc8a63, in __clone ×2 + 10.48sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b28d3baa3, in ×2 + 10.48sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7b28fcddb3, in ×2 + 10.48sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f7b29732a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.48sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b2935f620, in rclcpp::Rate::sleep() ×2 + 10.48sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b292a1d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.48sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7b29263087, in ×2 + 10.48sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7b28f9c390, in __cxa_throw ×2 + 10.48sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7b28f86a54, in std::terminate() ×2 + 10.48sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7b28f9c0d9, in ×2 + 10.48sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7b28f86ff4, in ×2 + 10.48sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b28cc78fe, in abort ×2 + 10.48sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b28ce427d, in raise ×2 + 10.48sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7b28d3db2c, in pthread_kill ×2 + 10.48sERRORmove_groupAborted (Signal sent by tkill() 7364 0) ×2 + 10.49sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.50sERRORmove_group-9process has died [pid 7364, 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_ix5kys0w --params-file /tmp/launch_params__w1a7d1q --params-file /tmp/launch_params_aqevv3vo --params-file /tmp/launch_params_eug_1tou --params-file /tmp/launch_params_6f_mm7nv --params-file /tmp/launch_params_nnrg4rj7']. ×2 + 10.68sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.68sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.69sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.47sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7450] ×2 + 11.48sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.49sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7367] ×2 + 11.50sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7368] ×2 + 11.54sINFOcomponent_container_mt-16process has finished cleanly [pid 7371] ×2 + 11.54sINFOui_teleop_bridge-18process has finished cleanly [pid 7379] ×2 + 11.55sINFOwaypoint_manager_node-11process has finished cleanly [pid 7366] ×2 + 11.55sINFOexecute_objective_bridge-17process has finished cleanly [pid 7372] ×2 + 11.55sINFOparameter_manager_node-10process has finished cleanly [pid 7365] ×2 + 11.62sINFOobjective_server_node[0;m[2026-09-04 15:32:45.445] [moveit_pro_license] [info] ×2 + 11.62sINFOobjective_server_node************************************************* ×4 + 11.62sINFOobjective_server_node* MoveIt Pro License ×2 + 11.62sINFOobjective_server_node* Application has successfully terminated ×2 + 11.75sINFOobjective_server_node_main-14process has finished cleanly [pid 7369] ×2 + 11.75sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.57sINFOweb_bridge-19process has finished cleanly [pid 7382] ×2 + 12.57sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.63sINFOcomponent_container_mt-15process has finished cleanly [pid 7370] ×2 + 13.11sINFOros2_control_node-1process has finished cleanly [pid 7323] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 209 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465643 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465643 ms (missed cycles : 3).[0m ×2 + 0.02sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.02sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.02sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.05sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788535750.36655021 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227898 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227898 ms (missed cycles : 2).[0m ×2 + 1.06sWARNros2_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 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968833 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968833 ms (missed cycles : 2).[0m ×2 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.05sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.05sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498696 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498696 ms (missed cycles : 3).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788535753.98895812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-04 15:29:14.183] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-04 15:29:14.183] [info] Accepted new action goal ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773948 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773948 ms (missed cycles : 3).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698377 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698377 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891284 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891284 ms (missed cycles : 5).[0m ×2 + 7.15sWARNros2_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 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.20sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343681 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.343681 ms (missed cycles : 3).[0m ×2 + 7.48sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.69sINFOobjective_server_nodeFound path in 1 iterations (0.00375843 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 2 iterations (0.00511229 s). ×2 + 7.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 1 iterations (0.00331502 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799454 ms (missed cycles : 3). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799454 ms (missed cycles : 3).[0m ×2 + 8.37sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.44sINFOros2_control_node[2026-09-04 15:29:18.756] [info] Received new action goal ×2 + 8.44sINFOros2_control_node[2026-09-04 15:29:18.756] [info] Accepted new action goal ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275708 ms (missed cycles : 5). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.275708 ms (missed cycles : 5).[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438739 ms (missed cycles : 2).[0m ×2 + 10.99sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 10.99sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 11.00sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.02sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 11.11sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.14sINFOobjective_server_nodeFound path in 1 iterations (0.00379936 s). ×2 + 11.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.49sINFOros2_control_node[2026-09-04 15:29:21.805] [info] Received new action goal ×2 + 11.49sINFOros2_control_node[2026-09-04 15:29:21.805] [info] Accepted new action goal ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928620 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928620 ms (missed cycles : 3).[0m ×2 + 11.89sINFOros2_control_node[2026-09-04 15:29:22.208] [info] Received new action goal ×2 + 11.89sINFOros2_control_node[2026-09-04 15:29:22.208] [info] Accepted new action goal ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397132 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397132 ms (missed cycles : 2).[0m ×2 + 13.88sWARNros2_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 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411051 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411051 ms (missed cycles : 4).[0m ×2 + 14.04sINFOobjective_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 + 14.04sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.04sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.04sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.05sERRORobjective_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: 1788535764.36251426 seconds ×3 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788535765.18418884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058989 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058989 ms (missed cycles : 2).[0m ×2 + 15.03sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 15.04sINFOros2_control_node[2026-09-04 15:29:25.358] [info] Received new action goal ×2 + 15.04sINFOros2_control_node[2026-09-04 15:29:25.358] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743090 ms (missed cycles : 2). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743090 ms (missed cycles : 2).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354121 ms (missed cycles : 4). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354121 ms (missed cycles : 4).[0m ×2 + 17.54sINFOros2_control_node[2026-09-04 15:29:27.859] [info] Received new action goal ×2 + 17.54sINFOros2_control_node[2026-09-04 15:29:27.859] [info] Accepted new action goal ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854923 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854923 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530156 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530156 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.00sINFOros2_control_node[2026-09-04 15:28:26.304] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-09-04 15:28:26.304] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966217 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966217 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.55sINFOros2_control_node[2026-09-04 15:28:26.860] [info] Got request to cancel active goal. ×2 + 2.55sINFOros2_control_node[2026-09-04 15:28:26.860] [info] Canceling active goal... ×2 + 2.57sERRORobjective_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: 1788535706.87597418 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839585 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839585 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.12sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.12sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.12sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.12sINFOobjective_server_nodecaller: ×6 + 3.12sINFOobjective_server_nodetype: 0 ×6 + 3.12sINFOobjective_server_nodename: "" ×6 + 3.12sINFOobjective_server_nodeinstance_id: "" ×6 + 3.12sINFOobjective_server_node ×6 + 3.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788535707.49304938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 3.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:27.717] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:27.717] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904826 ms (missed cycles : 4). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904826 ms (missed cycles : 4).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703703 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703703 ms (missed cycles : 2).[0m ×2 + 5.49sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.49sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.69sINFOros2_control_node[2026-09-04 15:28:29.997] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-04 15:28:29.997] [info] Accepted new action goal ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240488 ms (missed cycles : 2). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240488 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.940811 ms (missed cycles : 6). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.940811 ms (missed cycles : 6).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192194 ms (missed cycles : 6). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192194 ms (missed cycles : 6).[0m ×2 + 9.16sWARNros2_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 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180730 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180730 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[0m ×2 + 13.55sERRORobjective_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: 1788535717.86362958 seconds ×3 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 14.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.19sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.24sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.33sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 14.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.92sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 15.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.17sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 15.17sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 15.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844519 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844519 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937244 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937244 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793616 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793616 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788535931.37426710 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659299 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659299 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.45sINFOobjective_server_nodecaller: ×8 + 3.45sINFOobjective_server_nodetype: 0 ×8 + 3.45sINFOobjective_server_nodename: "" ×8 + 3.45sINFOobjective_server_nodeinstance_id: "" ×8 + 3.45sINFOobjective_server_node ×8 + 3.52sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788535932.03068829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-04 15:32:12.164] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 15:32:12.164] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195547 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195547 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390256 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390256 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118870 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118870 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173907 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.173907 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990312 ms (missed cycles : 3). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.990312 ms (missed cycles : 3).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330611 ms (missed cycles : 3). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330611 ms (missed cycles : 3).[0m ×2 + 10.18sINFOros2_control_nodeMuJoCo sim: 0.44% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 11.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 13.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.85sERRORobjective_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: 1788535942.36097646 seconds ×3 + 14.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.45sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.55sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 15.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.12sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.17sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOobjective_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 + 15.19sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.74sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.80sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.92sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 15.92sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 16.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.68sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.68sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.68sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.68sINFOobjective_server_nodecaller: ×12 + 0.68sINFOobjective_server_nodetype: 0 ×12 + 0.68sINFOobjective_server_nodename: "" ×12 + 0.68sINFOobjective_server_nodeinstance_id: "" ×12 + 0.68sINFOobjective_server_node ×12 + 0.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 1.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.40sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.45sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.01sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 2.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.92sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_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 + 3.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.69sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.73sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.20sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692821 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692821 ms (missed cycles : 2).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856914 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.856914 ms (missed cycles : 3).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073567 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073567 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.00sINFOros2_control_node[2026-09-04 15:28:22.954] [info] Received new action goal ×2 + 10.00sINFOros2_control_node[2026-09-04 15:28:22.954] [info] Accepted new action goal ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972996 ms (missed cycles : 2). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.972996 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854923 ms (missed cycles : 3). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854923 ms (missed cycles : 3).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530156 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.530156 ms (missed cycles : 3).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.35sINFOros2_control_node[2026-09-04 15:28:26.304] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-09-04 15:28:26.304] [info] Accepted new action goal ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966217 ms (missed cycles : 2). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966217 ms (missed cycles : 2).[0m ×2 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOros2_control_node[2026-09-04 15:28:26.860] [info] Got request to cancel active goal. ×2 + 13.90sINFOros2_control_node[2026-09-04 15:28:26.860] [info] Canceling active goal... ×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: 1788535706.87597418 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 + 13.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 14.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839585 ms (missed cycles : 2). + 14.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839585 ms (missed cycles : 2).[0m ×2 + 14.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.53sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788535707.49304938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.74sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 14.76sINFOros2_control_node[2026-09-04 15:28:27.717] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-04 15:28:27.717] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904826 ms (missed cycles : 4). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904826 ms (missed cycles : 4).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703703 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703703 ms (missed cycles : 2).[0m ×2 + 17.02sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 17.03sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.04sINFOros2_control_node[2026-09-04 15:28:29.997] [info] Received new action goal ×2 + 17.04sINFOros2_control_node[2026-09-04 15:28:29.997] [info] Accepted new action goal ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240488 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240488 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712581 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712581 ms (missed cycles : 2).[0m ×2 + 8.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287242 ms (missed cycles : 4). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.287242 ms (missed cycles : 4).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900313 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900313 ms (missed cycles : 2).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981190 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981190 ms (missed cycles : 2).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251341 ms (missed cycles : 5). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251341 ms (missed cycles : 5).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531110 ms (missed cycles : 4). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531110 ms (missed cycles : 4).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502143 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502143 ms (missed cycles : 2).[0m ×2 + 13.98sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535920.86494470 seconds ×3 + 14.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788535921.46432805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.86sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 14.87sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.88sINFOros2_control_node[2026-09-04 15:32:01.761] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-04 15:32:01.761] [info] Accepted new action goal ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618801 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618801 ms (missed cycles : 2).[0m ×2 + 15.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037212 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037212 ms (missed cycles : 2).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081615 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081615 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 58 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 + 7.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.08sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.37sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 7.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 7.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.47sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.57sINFOobjective_server_nodeFound path in 1 iterations (0.00345465 s). ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765086 ms (missed cycles : 8). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.765086 ms (missed cycles : 8).[0m ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.75sINFOobjective_server_nodeFound path in 2 iterations (0.00821944 s). ×2 + 7.87sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00464641 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.33sINFOros2_control_node[2026-09-04 15:29:07.799] [info] Received new action goal ×2 + 8.33sINFOros2_control_node[2026-09-04 15:29:07.799] [info] Accepted new action goal ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071072 ms (missed cycles : 5). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.071072 ms (missed cycles : 5).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789595 ms (missed cycles : 6). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789595 ms (missed cycles : 6).[0m ×2 + 10.59sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465643 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465643 ms (missed cycles : 3).[0m ×2 + 10.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.86sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788535750.36655021 seconds ×3 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227898 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227898 ms (missed cycles : 2).[0m ×2 + 11.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968833 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968833 ms (missed cycles : 2).[0m ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498696 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498696 ms (missed cycles : 3).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.52sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788535753.98895812 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.70sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.71sINFOros2_control_node[2026-09-04 15:29:14.183] [info] Received new action goal ×2 + 14.71sINFOros2_control_node[2026-09-04 15:29:14.183] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773948 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.773948 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698377 ms (missed cycles : 3). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698377 ms (missed cycles : 3).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891284 ms (missed cycles : 5). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891284 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.61sINFOobjective_server_nodecaller: ×6 + 2.61sINFOobjective_server_nodetype: 0 ×6 + 2.61sINFOobjective_server_nodename: "" ×6 + 2.61sINFOobjective_server_nodeinstance_id: "" ×6 + 2.61sINFOobjective_server_node ×6 + 2.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 3.57sWARNros2_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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 + 6.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.88sINFOros2_control_node[2026-09-04 15:28:55.650] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-09-04 15:28:55.650] [info] Accepted new action goal ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587160 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587160 ms (missed cycles : 3).[0m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544753 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544753 ms (missed cycles : 2).[0m ×2 + 9.21sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 9.22sINFOros2_control_node[2026-09-04 15:28:57.988] [info] Received new action goal ×2 + 9.22sINFOros2_control_node[2026-09-04 15:28:57.988] [info] Accepted new action goal ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583377 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583377 ms (missed cycles : 2).[0m ×2 + 9.70sWARNros2_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 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 11.57sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 11.58sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 11.58sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 13.59sINFOobjective_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 + 13.59sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 13.59sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 13.60sERRORobjective_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: 1788535742.36955619 seconds ×3 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 14.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.45sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 14.45sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 16.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 59 warnings · 410 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.00sERRORobjective_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: 1788535942.36097646 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.59sINFOobjective_server_nodecaller: ×14 + 2.59sINFOobjective_server_nodetype: 0 ×14 + 2.59sINFOobjective_server_nodename: "" ×14 + 2.59sINFOobjective_server_nodeinstance_id: "" ×14 + 2.59sINFOobjective_server_node ×14 + 2.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165705 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165705 ms (missed cycles : 4).[0m ×2 + 7.39sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.39sINFOros2_control_node[2026-09-04 15:32:27.752] [info] Received new action goal ×2 + 7.39sINFOros2_control_node[2026-09-04 15:32:27.752] [info] Accepted new action goal ×2 + 7.39sINFOros2_control_node[2026-09-04 15:32:27.752] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.363253 ms (missed cycles : 9). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.363253 ms (missed cycles : 9).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.291110 ms (missed cycles : 6). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.291110 ms (missed cycles : 6).[0m ×2 + 10.18sWARNros2_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 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006007 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006007 ms (missed cycles : 2).[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 14.09sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 14.09sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 14.09sERRORobjective_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: 1788535954.45295453 seconds ×3 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 14.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.64sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 15.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.70sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.76sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.76sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.76sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.76sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.76sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 16.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.30sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 17.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.04sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2194 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×664 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.93sINFOobjective_server_nodecaller: ×4 + 3.93sINFOobjective_server_nodetype: 0 ×4 + 3.93sINFOobjective_server_nodename: "" ×4 + 3.93sINFOobjective_server_nodeinstance_id: "" ×4 + 3.93sINFOobjective_server_node ×4 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393187 ms (missed cycles : 6). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.393187 ms (missed cycles : 6).[0m ×2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.25sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.54sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 1 iterations (0.00401295 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 8.96sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.98sINFOros2_control_node[2026-09-04 15:31:44.738] [info] Received new action goal ×2 + 8.98sINFOros2_control_node[2026-09-04 15:31:44.738] [info] Accepted new action goal ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944613 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944613 ms (missed cycles : 3).[0m ×2 + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.437698 ms (missed cycles : 6). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.437698 ms (missed cycles : 6).[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 11.28sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 13.03sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.04sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 13.04sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 14.10sINFOobjective_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 + 14.10sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 14.10sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 14.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 14.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 14.65sWARNros2_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 + 14.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.69sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.77sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.94sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 14.96sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 16.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981190 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981190 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251341 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251341 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531110 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531110 ms (missed cycles : 4).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502143 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502143 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_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 + 3.27sERRORobjective_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: 1788535920.86494470 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 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square 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: "Playback Square 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 + 3.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788535921.46432805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.16sINFOros2_control_node[2026-09-04 15:32:01.761] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 15:32:01.761] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618801 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618801 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037212 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037212 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081615 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081615 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928476 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928476 ms (missed cycles : 2).[0m ×2 + 8.19sINFOros2_control_node[2026-09-04 15:32:05.789] [info] Received new action goal ×2 + 8.19sINFOros2_control_node[2026-09-04 15:32:05.789] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783077 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783077 ms (missed cycles : 2).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910195 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910195 ms (missed cycles : 3).[0m ×2 + 9.77sWARNros2_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 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844519 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844519 ms (missed cycles : 2).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937244 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937244 ms (missed cycles : 2).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793616 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793616 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788535931.37426710 seconds ×3 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659299 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659299 ms (missed cycles : 4).[0m ×2 + 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: 1788535932.03068829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 14.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.57sINFOros2_control_node[2026-09-04 15:32:12.164] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-09-04 15:32:12.164] [info] Accepted new action goal ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195547 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195547 ms (missed cycles : 2).[0m ×2 + 15.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390256 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390256 ms (missed cycles : 2).[0m ×2 + 16.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118870 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118870 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5).[0m ×2 + 1.27sWARNros2_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 + 1.32sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535776.43077159 seconds ×3 + 1.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.94sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 1.94sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.94sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.94sINFOobjective_server_nodecaller: ×6 + 1.94sINFOobjective_server_nodetype: 0 ×6 + 1.94sINFOobjective_server_nodename: "" ×6 + 1.94sINFOobjective_server_nodeinstance_id: "" ×6 + 1.94sINFOobjective_server_node ×6 + 1.99sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535777.09525967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535777.16539884 seconds ×3 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.78sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 2.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 2.80sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 2.80sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.38sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.53sINFOobjective_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 + 6.53sINFOobjective_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 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.81sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 6.85sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 6.85sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 7.40sWARNros2_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 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 691 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.18sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.18sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.19sWARNros2_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 + 0.19sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.19sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.19sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.19sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.19sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.19sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.19sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.19sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.19sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.19sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.19sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.19sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.19sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.19sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.19sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.19sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.19sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.19sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.19sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.19sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.19sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.19sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.19sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.19sINFOcomponent_container_mt[2026-09-04 15:28:08.665] [moveit_pro_license] [info] ×2 + 0.19sINFOcomponent_container_mt************************************************* ×4 + 0.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.31sINFOforce_torque_sensor_broadcasterconfigure successful + 0.31sINFOros2_control_nodeconfigure successful[0m ×2 + 0.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.31sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.60sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.60sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.64sINFOros2-2process has finished cleanly [pid 7324] ×2 + 0.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.83sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.83sINFOros2_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 + 0.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.83sWARNros2_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 + 0.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.87sINFOros2_control_node[2026-09-04 15:28:09.345] [info] Controller state will be published at 10 Hz. ×2 + 0.87sINFOros2_control_node[2026-09-04 15:28:09.346] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685919 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685919 ms (missed cycles : 2).[0m ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.16sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.21sINFOros2-7process has finished cleanly [pid 7340] ×2 + 1.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.30sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.33sINFOros2_control_node[2026-09-04 15:28:09.805] [info] Controller state will be published at 20 Hz. ×2 + 1.33sINFOros2_control_node[2026-09-04 15:28:09.806] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.68sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.68sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.69sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.69sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.69sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.70sINFOros2-8process has finished cleanly [pid 7341] ×2 + 1.87sWARNobjective_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 + 1.96sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.96sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.96sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.96sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.99sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.99sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.99sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.99sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.99sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.00sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.00sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.01sINFOros2-5process has finished cleanly [pid 7338] ×2 + 2.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 2.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 2.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.37sINFOros2-3process has finished cleanly [pid 7325] ×2 + 2.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.38sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.68sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.68sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.70sINFOros2-4process has finished cleanly [pid 7337] ×2 + 2.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 2.75sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 2.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.78sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.78sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.81sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.81sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 2.81sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.84sINFOobjective_server_nodecaller: ×14 + 2.84sINFOobjective_server_nodetype: 0 ×14 + 2.84sINFOobjective_server_nodename: "" ×14 + 2.84sINFOobjective_server_nodeinstance_id: "" ×14 + 2.84sINFOobjective_server_node ×14 + 2.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 3.17sINFOros2-6process has finished cleanly [pid 7339] ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_control_nodeCamera render tick took 1.92 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 + 4.61sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 5.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.17sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 6.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.40sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.42sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.42sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 7.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.97sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.03sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.04sINFOobjective_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 + 8.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.05sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.17sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.75sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535954.45295453 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.30sINFOobjective_server_nodecaller: ×8 + 3.30sINFOobjective_server_nodetype: 0 ×8 + 3.30sINFOobjective_server_nodename: "" ×8 + 3.30sINFOobjective_server_nodeinstance_id: "" ×8 + 3.30sINFOobjective_server_node ×8 + 3.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.42sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2).[0m ×2 + 6.88sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535958.57876301 seconds ×3 + 6.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_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 + 1.71sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 1.71sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1788535954.45295453 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.26sINFOobjective_server_nodecaller: ×8 + 2.26sINFOobjective_server_nodetype: 0 ×8 + 2.26sINFOobjective_server_nodename: "" ×8 + 2.26sINFOobjective_server_nodeinstance_id: "" ×8 + 2.26sINFOobjective_server_node ×8 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.38sINFOobjective_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 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535958.57876301 seconds ×3 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484397 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484397 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220852 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5).[0m ×2 + 2.65sWARNros2_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 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535776.43077159 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535777.09525967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535777.16539884 seconds ×3 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.03sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1788535942.36097646 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313490 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313490 ms (missed cycles : 4).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 1.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.87sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.88sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 1.88sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 3.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.70sINFOobjective_server_nodecaller: ×4 + 3.70sINFOobjective_server_nodetype: 0 ×4 + 3.70sINFOobjective_server_nodename: "" ×4 + 3.70sINFOobjective_server_nodeinstance_id: "" ×4 + 3.70sINFOobjective_server_node ×4 + 3.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.45sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.62sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 4.67sWARNros2_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 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[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 + 2.82sERRORobjective_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: 1788535717.86362958 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 5.22sWARNros2_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 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_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! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOros2-8process has finished cleanly [pid 7341] ×2 + 0.25sWARNobjective_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 + 0.33sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.33sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.33sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOros2-5process has finished cleanly [pid 7338] ×2 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.70sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 7325] ×2 + 0.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2-4process has finished cleanly [pid 7337] ×2 + 1.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.22sINFOobjective_server_nodecaller: ×14 + 1.22sINFOobjective_server_nodetype: 0 ×14 + 1.22sINFOobjective_server_nodename: "" ×14 + 1.22sINFOobjective_server_nodeinstance_id: "" ×14 + 1.22sINFOobjective_server_node ×14 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 7339] ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 0.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 2.32sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sERRORobjective_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: 1788535942.36097646 seconds ×3 + 2.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.92sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.92sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.92sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.92sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.92sINFOobjective_server_nodecaller: ×6 + 2.92sINFOobjective_server_nodetype: 0 ×6 + 2.92sINFOobjective_server_nodename: "" ×6 + 2.92sINFOobjective_server_nodeinstance_id: "" ×6 + 2.92sINFOobjective_server_node ×6 + 2.97sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 4.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.27sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.39sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 5.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_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 + 1.71sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 1.71sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 1.71sERRORobjective_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: 1788535954.45295453 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.26sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.26sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.26sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.26sINFOobjective_server_nodecaller: ×8 + 2.26sINFOobjective_server_nodetype: 0 ×8 + 2.26sINFOobjective_server_nodename: "" ×8 + 2.26sINFOobjective_server_nodeinstance_id: "" ×8 + 2.26sINFOobjective_server_node ×8 + 2.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.38sINFOobjective_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 + 3.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 3.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748605 ms (missed cycles : 2).[0m ×2 + 5.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788535958.57876301 seconds ×3 + 5.88sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484397 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484397 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.1s | 23 warnings · 2080 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×664 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 3.57sWARNros2_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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[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 + 2.82sERRORobjective_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: 1788535717.86362958 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 5.22sWARNros2_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 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.331893 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[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 + 2.82sERRORobjective_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: 1788535717.86362958 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.46sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.46sINFOobjective_server_nodecaller: ×4 + 3.46sINFOobjective_server_nodetype: 0 ×4 + 3.46sINFOobjective_server_nodename: "" ×4 + 3.46sINFOobjective_server_nodeinstance_id: "" ×4 + 3.46sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.24sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 5.22sWARNros2_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 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sERRORobjective_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: 1788535717.86362958 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sERRORobjective_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: 1788535717.86362958 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sERRORobjective_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: 1788535717.86362958 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021795 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.414857 ms (missed cycles : 6).[0m ×2 + 1.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sERRORobjective_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: 1788535717.86362958 seconds ×3 + 1.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206227 ms (missed cycles : 3).[0m ×2 + 2.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.43sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.43sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.43sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.43sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.43sINFOobjective_server_nodecaller: ×4 + 2.43sINFOobjective_server_nodetype: 0 ×4 + 2.43sINFOobjective_server_nodename: "" ×4 + 2.43sINFOobjective_server_nodeinstance_id: "" ×4 + 2.43sINFOobjective_server_node ×4 + 2.48sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788535718.54949594 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788535718.63961935 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.982078 ms (missed cycles : 5).[0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788535719.28144860 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-09-04 15:28:39.475] [info] Accepted new action goal ×2 + 4.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780753 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.199796 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 3.57sWARNros2_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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 3.57sWARNros2_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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 3.57sWARNros2_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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338590 ms (missed cycles : 6).[0m ×2 + 0.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-09-04 15:28:49.546] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.889450 ms (missed cycles : 2).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788535730.83251452 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.589314 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.61sINFOobjective_server_nodecaller: ×4 + 2.61sINFOobjective_server_nodetype: 0 ×4 + 2.61sINFOobjective_server_nodename: "" ×4 + 2.61sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788535731.44813752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788535731.52826595 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886893 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.40sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788535732.16664553 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 3.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Received new action goal ×2 + 3.53sINFOros2_control_node[2026-09-04 15:28:52.291] [info] Accepted new action goal ×2 + 3.57sWARNros2_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 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273323 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263997 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930008 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909601 ms (missed cycles : 2).[0m ×2 + 0.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.87sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 0.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Received new action goal ×2 + 0.88sINFOros2_control_node[2026-09-04 15:29:00.348] [info] Accepted new action goal ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069660 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074340 ms (missed cycles : 3).[0m ×2 + 2.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Got request to cancel active goal. ×2 + 2.88sINFOros2_control_node[2026-09-04 15:29:02.356] [info] Canceling active goal... ×2 + 2.90sERRORobjective_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: 1788535742.36955619 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342717 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788535743.00258803 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.73sINFOobjective_server_nodeFound path in 0 iterations (4.16e-07 s). ×2 + 3.73sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-04 15:29:03.216] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755383 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.657916 ms (missed cycles : 4).[0m ×2 + 5.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00379936 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.50sINFOros2_control_node[2026-09-04 15:29:21.805] [info] Received new action goal ×2 + 0.50sINFOros2_control_node[2026-09-04 15:29:21.805] [info] Accepted new action goal ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928620 ms (missed cycles : 3). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928620 ms (missed cycles : 3).[0m ×2 + 0.90sINFOros2_control_node[2026-09-04 15:29:22.208] [info] Received new action goal ×2 + 0.90sINFOros2_control_node[2026-09-04 15:29:22.208] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397132 ms (missed cycles : 2). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397132 ms (missed cycles : 2).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.89sWARNros2_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 + 2.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411051 ms (missed cycles : 4). + 2.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.411051 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.05sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.05sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.05sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.05sERRORobjective_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: 1788535764.36251426 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.76sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.76sINFOobjective_server_nodecaller: ×2 + 3.76sINFOobjective_server_nodetype: 0 ×2 + 3.76sINFOobjective_server_nodename: "" ×2 + 3.76sINFOobjective_server_nodeinstance_id: "" ×2 + 3.76sINFOobjective_server_node ×2 + 3.87sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788535765.18418884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058989 ms (missed cycles : 2). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.058989 ms (missed cycles : 2).[0m ×2 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.05sINFOros2_control_node[2026-09-04 15:29:25.358] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-09-04 15:29:25.358] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743090 ms (missed cycles : 2). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743090 ms (missed cycles : 2).[0m ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354121 ms (missed cycles : 4). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354121 ms (missed cycles : 4).[0m ×2 + 6.55sINFOros2_control_node[2026-09-04 15:29:27.859] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-04 15:29:27.859] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220852 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.220852 ms (missed cycles : 2).[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715346 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682514 ms (missed cycles : 5).[0m ×2 + 2.65sWARNros2_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 + 2.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788535776.43077159 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.31sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.31sINFOobjective_server_nodecaller: ×4 + 3.31sINFOobjective_server_nodetype: 0 ×4 + 3.31sINFOobjective_server_nodename: "" ×4 + 3.31sINFOobjective_server_nodeinstance_id: "" ×4 + 3.31sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788535777.09525967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.41sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.417637 ms (missed cycles : 4).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788535777.16539884 seconds ×3 + 3.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.98sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.03sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.18sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 4.18sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 | ||||
| − 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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[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 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788535777.76420355 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Received new action goal ×2 + 0.20sINFOros2_control_node[2026-09-04 15:29:37.908] [info] Accepted new action goal ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761600 ms (missed cycles : 2).[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.195756 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788535779.91434646 seconds ×3 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.971560 ms (missed cycles : 3).[0m ×2 + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896253 ms (missed cycles : 5).[0m ×2 + 3.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.78sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788535781.55128074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 4.21sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-04 15:29:41.959] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082657 ms (missed cycles : 2).[0m ×2 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920261 ms (missed cycles : 3).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.904895 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907254 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907254 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.767572 ms (missed cycles : 6). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.767572 ms (missed cycles : 6).[0m ×2 + 1.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379337 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379337 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788535834.96395636 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832288 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832288 ms (missed cycles : 5).[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.46sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.46sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.46sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.46sINFOobjective_server_nodecaller: ×2 + 3.46sINFOobjective_server_nodetype: 0 ×2 + 3.46sINFOobjective_server_nodename: "" ×2 + 3.46sINFOobjective_server_nodeinstance_id: "" ×2 + 3.46sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788535835.56225157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.70sINFOros2_control_node[2026-09-04 15:30:35.746] [info] Received new action goal ×2 + 3.70sINFOros2_control_node[2026-09-04 15:30:35.746] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702909 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.702909 ms (missed cycles : 5).[0m ×2 + 4.97sINFOobjective_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 + 4.97sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 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_admittance_controller ×3 + 5.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531038 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.531038 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 ms (missed cycles : 2). + 6.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139196 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 · 2080 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×664 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2080 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×664 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2080 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×664 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2080 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×664 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886561 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721974 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190437 ms (missed cycles : 2).[0m ×2 + 2.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788535899.06964874 seconds ×3 + 3.31sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.31sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674208 ms (missed cycles : 4).[0m ×2 + 3.93sINFOobjective_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: ""
+ 3.93sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.93sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.93sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.93sINFOobjective_server_nodecaller: ×2 + 3.93sINFOobjective_server_nodetype: 0 ×2 + 3.93sINFOobjective_server_nodename: "" ×2 + 3.93sINFOobjective_server_nodeinstance_id: "" ×2 + 3.93sINFOobjective_server_node ×2 + 4.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788535899.78037548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-09-04 15:31:39.999] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.833442 ms (missed cycles : 6).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882743 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.673909 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226354 ms (missed cycles : 2).[0m ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-09-04 15:31:47.040] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388310 ms (missed cycles : 4).[0m ×2 + 1.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Received new action goal ×2 + 1.92sINFOros2_control_node[2026-09-04 15:31:48.804] [info] Accepted new action goal ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.390268 ms (missed cycles : 6).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-09-04 15:31:49.861] [info] Canceling active goal... ×2 + 2.99sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535909.87584972 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227387 ms (missed cycles : 2).[0m ×2 + 3.53sWARNros2_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 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.57sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.57sINFOobjective_server_nodecaller: ×2 + 3.57sINFOobjective_server_nodetype: 0 ×2 + 3.57sINFOobjective_server_nodename: "" ×2 + 3.57sINFOobjective_server_nodeinstance_id: "" ×2 + 3.57sINFOobjective_server_node ×2 + 3.65sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788535910.53431177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-04 15:31:50.718] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053396 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.622744 ms (missed cycles : 4).[0m ×2 + 5.75sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266543 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981190 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981190 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251341 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251341 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531110 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531110 ms (missed cycles : 4).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502143 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502143 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_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 + 3.27sERRORobjective_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: 1788535920.86494470 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 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square 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: "Playback Square 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 + 3.87sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788535921.46432805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.14sINFOobjective_server_nodeFound path in 0 iterations (5.51e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.16sINFOros2_control_node[2026-09-04 15:32:01.761] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-04 15:32:01.761] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618801 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618801 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037212 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.037212 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081615 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081615 ms (missed cycles : 2).[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 1.844519 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844519 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937244 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937244 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793616 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793616 ms (missed cycles : 2).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788535931.37426710 seconds ×3 + 2.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.92sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659299 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659299 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.52sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788535932.03068829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sINFOros2_control_node[2026-09-04 15:32:12.164] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-04 15:32:12.164] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195547 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195547 ms (missed cycles : 2).[0m ×2 + 4.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390256 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390256 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118870 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118870 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1788535942.36097646 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1788535942.36097646 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1788535942.36097646 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.895538 ms (missed cycles : 4).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576427 ms (missed cycles : 2).[0m ×2 + 1.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sERRORobjective_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: 1788535942.36097646 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.37sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.96sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.96sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.96sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.96sINFOobjective_server_nodecaller: ×6 + 3.96sINFOobjective_server_nodetype: 0 ×6 + 3.96sINFOobjective_server_nodename: "" ×6 + 3.96sINFOobjective_server_nodeinstance_id: "" ×6 + 3.96sINFOobjective_server_node ×6 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.07sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.07sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 4.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.63sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.68sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_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 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.31sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 5.44sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 6.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sERRORobjective_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: 1788535942.36097646 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sERRORobjective_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: 1788535942.36097646 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011251 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.689072 ms (missed cycles : 5).[0m ×2 + 1.99sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sERRORobjective_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: 1788535942.36097646 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788535943.01018548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788535943.08033967 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604272 ms (missed cycles : 4).[0m ×2 + 3.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.32sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788535943.68022251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788535943.70269537 seconds ×3 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.95sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788535944.30796289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.06sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-09-04 15:32:24.431] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.659309 ms (missed cycles : 4).[0m ×2 + 5.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127479 ms (missed cycles : 2).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660946 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.75sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535954.45295453 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.30sINFOobjective_server_nodecaller: ×8 + 3.30sINFOobjective_server_nodetype: 0 ×8 + 3.30sINFOobjective_server_nodename: "" ×8 + 3.30sINFOobjective_server_nodeinstance_id: "" ×8 + 3.30sINFOobjective_server_node ×8 + 3.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.42sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929191 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594340 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271061 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_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 + 2.75sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Got request to cancel active goal. ×2 + 2.75sINFOros2_control_node[2026-09-04 15:32:34.448] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788535954.45295453 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160319 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.30sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.30sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.30sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.30sINFOobjective_server_nodecaller: ×8 + 3.30sINFOobjective_server_nodetype: 0 ×8 + 3.30sINFOobjective_server_nodename: "" ×8 + 3.30sINFOobjective_server_nodeinstance_id: "" ×8 + 3.30sINFOobjective_server_node ×8 + 3.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788535955.06307793 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788535955.52321696 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.998539 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788535956.11955333 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.42sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788535956.12150073 seconds ×3 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.96sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788535956.72415876 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788535956.72484708 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756690 ms (missed cycles : 3).[0m ×2 + 5.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.70sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.75sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788535957.44863224 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.3s | 39 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/2026-09-04-15-28-04-084919-c5442e45e0c8-7275 ×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. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721239 ms (missed cycles : 3). + 0.86sINFOros2_control_node-1process started with pid [7323] ×2 + 0.86sINFOmove_group-9process started with pid [7364] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7365] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7366] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7367] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7368] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7369] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7370] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7371] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7372] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7379] ×2 + 0.87sINFOweb_bridge-19process started with pid [7382] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7450] ×2 + 0.87sINFOvideo_server-21process started with pid [7451] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7452] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7453] ×2 + 0.87sINFOros2-2process started with pid [7324] ×2 + 0.87sINFOros2-3process started with pid [7325] ×2 + 0.87sINFOros2-4process started with pid [7337] ×2 + 0.87sINFOros2-5process started with pid [7338] ×2 + 0.87sINFOros2-6process started with pid [7339] ×2 + 0.87sINFOros2-7process started with pid [7340] ×2 + 0.87sINFOros2-8process started with pid [7341] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721239 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOvideo_server2026/09/04 15:28:05 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.05sINFOvideo_server2026/09/04 15:28:05 INF configuration loaded from /tmp/moveit-webrtc-d8_rtds1/mediamtx.yml ×2 + 1.06sINFOvideo_server2026/09/04 15:28:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/04 15:28:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-04 15:28:06.348] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.02sINFOros2_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 + 2.02sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578013 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578013 ms (missed cycles : 3).[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.21sINFOwaypoint_manager_node[2026-09-04 15:28:06.693] [moveit_pro_license] [info] ×2 + 2.21sINFOwaypoint_manager_node************************************************* ×4 + 2.21sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.21sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.36sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 3.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.75sINFOobjective_server_node[2026-09-04 15:28:08.229] [moveit_pro_license] [info] ×2 + 3.75sINFOobjective_server_node************************************************* ×4 + 3.75sINFOobjective_server_node* MoveIt Pro License ×2 + 3.75sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.86sINFOobjective_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 + 3.86sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.88sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.88sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.00sINFOexecute_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 + 4.18sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.18sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.19sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.19sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.19sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.19sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.19sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.19sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.19sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.19sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.19sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.19sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.19sINFOcomponent_container_mt[2026-09-04 15:28:08.665] [moveit_pro_license] [info] ×2 + 4.19sINFOcomponent_container_mt************************************************* ×4 + 4.19sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.19sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.28sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.28sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.28sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.28sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.28sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 4.28sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 4.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.30sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.30sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.30sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.31sINFOforce_torque_sensor_broadcasterconfigure successful + 4.31sINFOros2_control_nodeconfigure successful[0m ×2 + 4.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.31sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.31sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.31sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.31sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.60sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 4.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 4.60sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 4.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 4.64sINFOros2-2process has finished cleanly [pid 7324] ×2 + 4.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 4.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 4.83sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.83sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.83sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.83sINFOros2_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 + 4.83sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.83sWARNros2_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 + 4.83sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.84sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.87sINFOros2_control_node[2026-09-04 15:28:09.345] [info] Controller state will be published at 10 Hz. ×2 + 4.87sINFOros2_control_node[2026-09-04 15:28:09.346] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685919 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685919 ms (missed cycles : 2).[0m ×2 + 5.16sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.16sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.16sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.16sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.21sINFOros2-7process has finished cleanly [pid 7340] ×2 + 5.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 5.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 5.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 5.30sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 5.30sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.33sINFOros2_control_node[2026-09-04 15:28:09.805] [info] Controller state will be published at 20 Hz. ×2 + 5.33sINFOros2_control_node[2026-09-04 15:28:09.806] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.62sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.62sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.62sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.62sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 5.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 5.67sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.67sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.68sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.68sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.68sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.68sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.69sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.69sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.70sINFOros2-8process has finished cleanly [pid 7341] ×2 + 5.87sWARNobjective_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 + 5.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.96sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 5.96sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 5.97sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.97sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.99sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.99sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.99sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.99sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.99sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.99sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.00sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.00sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.00sINFOros2-5process has finished cleanly [pid 7338] ×2 + 6.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 6.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 6.36sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.36sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.36sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.36sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.36sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.36sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.37sINFOros2-3process has finished cleanly [pid 7325] ×2 + 6.37sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.38sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.67sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.67sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.68sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.70sINFOros2-4process has finished cleanly [pid 7337] ×2 + 6.74sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 6.74sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 6.78sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.78sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.78sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.78sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.78sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.78sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.80sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.80sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 6.81sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.84sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.84sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.84sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.84sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.84sINFOobjective_server_nodecaller: ×10 + 6.84sINFOobjective_server_nodetype: 0 ×10 + 6.84sINFOobjective_server_nodename: "" ×10 + 6.84sINFOobjective_server_nodeinstance_id: "" ×10 + 6.84sINFOobjective_server_node ×10 + 6.89sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 7.17sINFOros2-6process has finished cleanly [pid 7339] ×2 + 7.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.45sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.49sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 8.48sWARNros2_control_nodeCamera render tick took 1.92 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 + 8.60sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 9.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.16sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.21sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.27sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 9.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.88sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.93sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.95sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 10.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.49sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7339] ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.28sINFOobjective_server_nodecaller: ×12 + 0.28sINFOobjective_server_nodetype: 0 ×12 + 0.28sINFOobjective_server_nodename: "" ×12 + 0.28sINFOobjective_server_nodeinstance_id: "" ×12 + 0.28sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 7.04sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 7.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.50sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 7.50sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 443 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOros2-3process has finished cleanly [pid 7325] ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 7337] ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.49sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 0.50sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.53sINFOobjective_server_nodecaller: ×14 + 0.53sINFOobjective_server_nodetype: 0 ×14 + 0.53sINFOobjective_server_nodename: "" ×14 + 0.53sINFOobjective_server_nodeinstance_id: "" ×14 + 0.53sINFOobjective_server_node ×14 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 0.86sINFOros2-6process has finished cleanly [pid 7339] ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 2.17sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.85sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 153 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/2026-09-04-15-28-04-084919-c5442e45e0c8-7275 ×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. + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721239 ms (missed cycles : 3). + 0.86sINFOros2_control_node-1process started with pid [7323] ×2 + 0.86sINFOmove_group-9process started with pid [7364] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7365] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7366] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7367] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7368] ×2 + 0.86sINFOobjective_server_node_main-14process started with pid [7369] ×2 + 0.86sINFOcomponent_container_mt-15process started with pid [7370] ×2 + 0.86sINFOcomponent_container_mt-16process started with pid [7371] ×2 + 0.86sINFOexecute_objective_bridge-17process started with pid [7372] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7379] ×2 + 0.87sINFOweb_bridge-19process started with pid [7382] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7450] ×2 + 0.87sINFOvideo_server-21process started with pid [7451] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7452] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7453] ×2 + 0.87sINFOros2-2process started with pid [7324] ×2 + 0.87sINFOros2-3process started with pid [7325] ×2 + 0.87sINFOros2-4process started with pid [7337] ×2 + 0.87sINFOros2-5process started with pid [7338] ×2 + 0.87sINFOros2-6process started with pid [7339] ×2 + 0.87sINFOros2-7process started with pid [7340] ×2 + 0.87sINFOros2-8process started with pid [7341] ×2 + 0.89sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.89sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.89sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.89sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.89sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.89sWARNros2_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 + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721239 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.05sINFOvideo_server2026/09/04 15:28:05 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.05sINFOvideo_server2026/09/04 15:28:05 INF configuration loaded from /tmp/moveit-webrtc-d8_rtds1/mediamtx.yml ×2 + 1.06sINFOvideo_server2026/09/04 15:28:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.06sINFOvideo_server2026/09/04 15:28:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.28sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.53sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.53sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-04 15:28:06.348] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.01sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.01sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.01sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.01sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.02sINFOros2_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 + 2.02sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578013 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.578013 ms (missed cycles : 3).[0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.21sINFOwaypoint_manager_node[2026-09-04 15:28:06.693] [moveit_pro_license] [info] ×2 + 2.21sINFOwaypoint_manager_node************************************************* ×4 + 2.21sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.21sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.33sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.36sINFOmove_group ×4 + 2.36sINFOmove_group[92mYou can start planning now![0m ×2 + 3.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_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! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOros2-8process has finished cleanly [pid 7341] ×2 + 0.25sWARNobjective_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 + 0.33sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.33sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.33sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOros2-5process has finished cleanly [pid 7338] ×2 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.70sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 7325] ×2 + 0.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2-4process has finished cleanly [pid 7337] ×2 + 1.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.22sINFOobjective_server_nodecaller: ×14 + 1.22sINFOobjective_server_nodetype: 0 ×14 + 1.22sINFOobjective_server_nodename: "" ×14 + 1.22sINFOobjective_server_nodeinstance_id: "" ×14 + 1.22sINFOobjective_server_node ×14 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 7339] ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_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! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOros2-8process has finished cleanly [pid 7341] ×2 + 0.25sWARNobjective_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 + 0.33sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.33sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.33sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOros2-5process has finished cleanly [pid 7338] ×2 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.70sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 7325] ×2 + 0.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2-4process has finished cleanly [pid 7337] ×2 + 1.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.22sINFOobjective_server_nodecaller: ×14 + 1.22sINFOobjective_server_nodetype: 0 ×14 + 1.22sINFOobjective_server_nodename: "" ×14 + 1.22sINFOobjective_server_nodeinstance_id: "" ×14 + 1.22sINFOobjective_server_node ×14 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 7339] ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 537 info |
+ 0.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.05sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.05sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.06sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.06sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.06sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.06sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.06sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.07sINFOros2_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! ×20 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.07sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.08sINFOros2-8process has finished cleanly [pid 7341] ×2 + 0.25sWARNobjective_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 + 0.33sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.33sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.33sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOros2-5process has finished cleanly [pid 7338] ×2 + 0.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.70sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.74sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 7325] ×2 + 0.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.06sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.08sINFOros2-4process has finished cleanly [pid 7337] ×2 + 1.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 1.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 1.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.22sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.22sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.22sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.22sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.22sINFOobjective_server_nodecaller: ×14 + 1.22sINFOobjective_server_nodetype: 0 ×14 + 1.22sINFOobjective_server_nodename: "" ×14 + 1.22sINFOobjective_server_nodeinstance_id: "" ×14 + 1.22sINFOobjective_server_node ×14 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 7339] ×2 + 1.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.83sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 2.86sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 4.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.53sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 6.55sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 443 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.05sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.05sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.05sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.05sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.06sINFOros2-3process has finished cleanly [pid 7325] ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.13sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.39sINFOros2-4process has finished cleanly [pid 7337] ×2 + 0.43sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv + 0.43sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_w5qzg3xq --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_zethk2x3 --params-file /tmp/launch_params_typnitdv [0m ×2 + 0.47sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.47sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_node[2026-09-04 15:28:11.259] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.49sINFOros2_control_node[2026-09-04 15:28:11.284] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.49sINFOros2_control_node[2026-09-04 15:28:11.284] [info] Controller state will be published at 50 Hz. ×2 + 0.50sINFOros2_control_node[2026-09-04 15:28:11.290] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.53sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.53sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.53sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.53sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.53sINFOobjective_server_nodecaller: ×14 + 0.53sINFOobjective_server_nodetype: 0 ×14 + 0.53sINFOobjective_server_nodename: "" ×14 + 0.53sINFOobjective_server_nodeinstance_id: "" ×14 + 0.53sINFOobjective_server_node ×14 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788535691.37373042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788535691.38400531 seconds ×3 + 0.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346181 ms (missed cycles : 2).[0m ×2 + 0.86sINFOros2-6process has finished cleanly [pid 7339] ×2 + 1.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.13sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.18sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 1.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 2.17sWARNros2_control_nodeCamera render tick took 1.92 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 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 3.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.18sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 5.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.02sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 5.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.09sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_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 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 5.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.85sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 5.86sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 333 info |
+ 0.00sINFOros2-6process has finished cleanly [pid 7339] ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.28sINFOobjective_server_nodecaller: ×12 + 0.28sINFOobjective_server_nodetype: 0 ×12 + 0.28sINFOobjective_server_nodename: "" ×12 + 0.28sINFOobjective_server_nodeinstance_id: "" ×12 + 0.28sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788535691.97297907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 1.31sWARNros2_control_nodeCamera render tick took 1.92 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 1.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.47sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.99sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 2.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 4.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.16sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.24sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 4.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.79sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.86sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.00sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 5.00sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [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 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316430 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.92 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 + 0.37sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788535693.08316994 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.40sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.41sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.93sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.93sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.93sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.93sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.93sINFOobjective_server_nodecaller: ×10 + 0.93sINFOobjective_server_nodetype: 0 ×10 + 0.93sINFOobjective_server_nodename: "" ×10 + 0.93sINFOobjective_server_nodeinstance_id: "" ×10 + 0.93sINFOobjective_server_node ×10 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788535693.69148970 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 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788535693.75170016 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.225984 ms (missed cycles : 6).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.65sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788535694.40907264 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788535694.42919636 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860297 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.26sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788535695.02895260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788535695.17951703 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.043258 ms (missed cycles : 6).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788535695.86544657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788535695.90558100 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.80sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788535696.50933099 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_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 + 3.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (2.4622e-05 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-04 15:28:16.646] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674283 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956093 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340455 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-09-04 15:28:19.153] [info] Accepted new action goal ×2 | ||||