124
Total objective tests
32
Objectives passed
0
Objectives failed
92
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 163 warnings · 19626 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148150 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148150 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179347 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179347 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496058 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496058 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788909166.43490767 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614710 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614710 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_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: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.29sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.29sINFOobjective_server_nodecaller: ×4 + 3.29sINFOobjective_server_nodetype: 0 ×4 + 3.29sINFOobjective_server_nodename: "" ×4 + 3.29sINFOobjective_server_nodeinstance_id: "" ×4 + 3.29sINFOobjective_server_node ×4 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788909167.09047174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.50sINFOros2_control_node[2026-09-08 23:12:47.244] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-08 23:12:47.244] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061469 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061469 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 4.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601215 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601215 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513402 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513402 ms (missed cycles : 2).[0m ×2 + 7.02sINFOjoint_trajectory_controllerReceived new action goal ×3227 + 7.02sINFOjoint_trajectory_controllerAccepted new action goal ×3227 + 7.02sINFOros2_control_nodeReceived new action goal[0m ×6454 + 7.02sINFOros2_control_nodeAccepted new action goal[0m ×6454 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792117 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792117 ms (missed cycles : 2).[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506240 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506240 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962876 ms (missed cycles : 2). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962876 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185698 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185698 ms (missed cycles : 3).[0m ×2 + 10.63sWARNros2_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 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683188 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683188 ms (missed cycles : 2).[0m ×2 + 11.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956162 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956162 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056929 ms (missed cycles : 2). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056929 ms (missed cycles : 2).[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753156 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753156 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557443 ms (missed cycles : 3). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557443 ms (missed cycles : 3).[0m ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578238 ms (missed cycles : 4). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578238 ms (missed cycles : 4).[0m ×2 + 16.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726314 ms (missed cycles : 2). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726314 ms (missed cycles : 2).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812299 ms (missed cycles : 6). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.812299 ms (missed cycles : 6).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875714 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875714 ms (missed cycles : 2).[0m ×2 + 20.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840048 ms (missed cycles : 2). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840048 ms (missed cycles : 2).[0m ×2 + 21.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584096 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584096 ms (missed cycles : 3).[0m ×2 + 22.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937526 ms (missed cycles : 2). + 22.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937526 ms (missed cycles : 2).[0m ×2 + 23.82sWARNros2_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 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922341 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922341 ms (missed cycles : 2).[0m ×2 + 25.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881437 ms (missed cycles : 6). + 25.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881437 ms (missed cycles : 6).[0m ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.685355 ms (missed cycles : 6). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.685355 ms (missed cycles : 6).[0m ×2 + 27.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830321 ms (missed cycles : 2). + 27.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830321 ms (missed cycles : 2).[0m ×2 + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261682 ms (missed cycles : 2). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261682 ms (missed cycles : 2).[0m ×2 + 29.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771871 ms (missed cycles : 5). + 29.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.771871 ms (missed cycles : 5).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843436 ms (missed cycles : 2). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843436 ms (missed cycles : 2).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797895 ms (missed cycles : 2). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797895 ms (missed cycles : 2).[0m ×2 + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825148 ms (missed cycles : 2). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825148 ms (missed cycles : 2).[0m ×2 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803291 ms (missed cycles : 2). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803291 ms (missed cycles : 2).[0m ×2 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085124 ms (missed cycles : 4). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.085124 ms (missed cycles : 4).[0m ×2 + 35.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737801 ms (missed cycles : 2). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737801 ms (missed cycles : 2).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037230 ms (missed cycles : 2). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037230 ms (missed cycles : 2).[0m ×2 + 36.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819538 ms (missed cycles : 4). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819538 ms (missed cycles : 4).[0m ×2 + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622627 ms (missed cycles : 4). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622627 ms (missed cycles : 4).[0m ×2 + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542073 ms (missed cycles : 2). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542073 ms (missed cycles : 2).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206261 ms (missed cycles : 2). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.206261 ms (missed cycles : 2).[0m ×2 + 41.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351735 ms (missed cycles : 2). + 41.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351735 ms (missed cycles : 2).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678835 ms (missed cycles : 2). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678835 ms (missed cycles : 2).[0m ×2 + 43.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 43.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474951 ms (missed cycles : 4). + 43.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474951 ms (missed cycles : 4).[0m ×2 + 45.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860026 ms (missed cycles : 2). + 45.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860026 ms (missed cycles : 2).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171365 ms (missed cycles : 2). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171365 ms (missed cycles : 2).[0m ×2 + 47.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909210.88173175 seconds ×3 + 47.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212680 ms (missed cycles : 2). + 47.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212680 ms (missed cycles : 2).[0m ×2 + 47.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.68sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788909211.50866938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.82sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.92sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 47.93sINFOros2_control_node[2026-09-08 23:13:31.672] [info] Received new action goal ×2 + 47.93sINFOros2_control_node[2026-09-08 23:13:31.672] [info] Accepted new action goal ×2 + 47.94sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342125 ms (missed cycles : 4). + 48.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342125 ms (missed cycles : 4).[0m ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301846 ms (missed cycles : 2). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301846 ms (missed cycles : 2).[0m ×2 + 50.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130230 ms (missed cycles : 2). + 50.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130230 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.2s | 154 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 7.08sINFOros2_control_node[2026-09-08 23:11:55.431] [info] Received new action goal ×2 + 7.08sINFOros2_control_node[2026-09-08 23:11:55.431] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371300 ms (missed cycles : 4). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371300 ms (missed cycles : 4).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142968 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142968 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204765 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204765 ms (missed cycles : 2).[0m ×2 + 10.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.36sINFOros2_control_node[2026-09-08 23:11:58.711] [info] Received new action goal ×2 + 10.36sINFOros2_control_node[2026-09-08 23:11:58.711] [info] Accepted new action goal ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180447 ms (missed cycles : 5). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.180447 ms (missed cycles : 5).[0m ×2 + 11.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643286 ms (missed cycles : 2). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643286 ms (missed cycles : 2).[0m ×2 + 13.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838813 ms (missed cycles : 2). + 13.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838813 ms (missed cycles : 2).[0m ×2 + 13.34sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.39sINFOros2_control_node[2026-09-08 23:12:01.744] [info] Received new action goal ×2 + 13.39sINFOros2_control_node[2026-09-08 23:12:01.744] [info] Accepted new action goal ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053549 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053549 ms (missed cycles : 2).[0m ×2 + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833127 ms (missed cycles : 2). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833127 ms (missed cycles : 2).[0m ×2 + 16.35sINFOobjective_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 + 16.35sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.35sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.35sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656017 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656017 ms (missed cycles : 3).[0m ×2 + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424776 ms (missed cycles : 4). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424776 ms (missed cycles : 4).[0m ×2 + 17.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×8 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170032 ms (missed cycles : 4). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.170032 ms (missed cycles : 4).[0m ×2 + 19.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994716 ms (missed cycles : 2). + 19.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.994716 ms (missed cycles : 2).[0m ×2 + 20.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923245 ms (missed cycles : 2). + 20.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923245 ms (missed cycles : 2).[0m ×2 + 21.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014907 ms (missed cycles : 2). + 21.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.014907 ms (missed cycles : 2).[0m ×2 + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923139 ms (missed cycles : 3). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923139 ms (missed cycles : 3).[0m ×2 + 23.91sINFOobjective_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 + 23.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.91sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.91sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.91sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.91sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191080 ms (missed cycles : 4).[0m ×2 + 24.79sINFOros2_control_node[2026-09-08 23:12:13.141] [info] Received new action goal ×2 + 24.79sINFOros2_control_node[2026-09-08 23:12:13.141] [info] Accepted new action goal ×2 + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200973 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.200973 ms (missed cycles : 2).[0m ×2 + 25.98sINFOobjective_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 + 25.99sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4). + 26.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045261 ms (missed cycles : 4).[0m ×2 + 26.26sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 26.31sINFOros2_control_node[2026-09-08 23:12:14.663] [info] Received new action goal ×2 + 26.31sINFOros2_control_node[2026-09-08 23:12:14.663] [info] Accepted new action goal ×2 + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577663 ms (missed cycles : 3). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577663 ms (missed cycles : 3).[0m ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369672 ms (missed cycles : 3). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369672 ms (missed cycles : 3).[0m ×2 + 28.60sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 28.61sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.63sINFOros2_control_node[2026-09-08 23:12:16.977] [info] Received new action goal ×2 + 28.63sINFOros2_control_node[2026-09-08 23:12:16.977] [info] Accepted new action goal ×2 + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144218 ms (missed cycles : 2). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144218 ms (missed cycles : 2).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416206 ms (missed cycles : 4). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416206 ms (missed cycles : 4).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673212 ms (missed cycles : 3). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673212 ms (missed cycles : 3).[0m ×2 + 31.77sINFOros2_control_node[2026-09-08 23:12:20.121] [info] Received new action goal ×2 + 31.77sINFOros2_control_node[2026-09-08 23:12:20.121] [info] Accepted new action goal ×2 + 32.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255761 ms (missed cycles : 4). + 32.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.255761 ms (missed cycles : 4).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498554 ms (missed cycles : 3). + 33.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498554 ms (missed cycles : 3).[0m ×2 + 34.36sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 34.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.42sINFOros2_control_node[2026-09-08 23:12:22.775] [info] Received new action goal ×2 + 34.42sINFOros2_control_node[2026-09-08 23:12:22.775] [info] Accepted new action goal ×2 + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369384 ms (missed cycles : 3). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369384 ms (missed cycles : 3).[0m ×2 + 35.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611413 ms (missed cycles : 4). + 35.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.611413 ms (missed cycles : 4).[0m ×2 + 36.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 37.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956440 ms (missed cycles : 2). + 37.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.956440 ms (missed cycles : 2).[0m ×2 + 38.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612471 ms (missed cycles : 3). + 38.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612471 ms (missed cycles : 3).[0m ×2 + 39.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430882 ms (missed cycles : 4). + 39.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430882 ms (missed cycles : 4).[0m ×2 + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.079472 ms (missed cycles : 6). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.079472 ms (missed cycles : 6).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732111 ms (missed cycles : 3). + 41.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732111 ms (missed cycles : 3).[0m ×2 + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465154 ms (missed cycles : 4). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.465154 ms (missed cycles : 4).[0m ×2 + 43.33sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618555 ms (missed cycles : 3). + 43.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618555 ms (missed cycles : 3).[0m ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895837 ms (missed cycles : 2). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895837 ms (missed cycles : 2).[0m ×2 + 45.14sINFOros2_control_node[2026-09-08 23:12:33.492] [info] Received new action goal ×2 + 45.14sINFOros2_control_node[2026-09-08 23:12:33.492] [info] Accepted new action goal ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699728 ms (missed cycles : 3). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699728 ms (missed cycles : 3).[0m ×2 + 46.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788909154.64681149 seconds ×3 + 46.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.89sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803918 ms (missed cycles : 3). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803918 ms (missed cycles : 3).[0m ×2 + 47.08sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788909155.43473577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358350 ms (missed cycles : 4). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358350 ms (missed cycles : 4).[0m ×2 + 48.21sWARNros2_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 + 48.31sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 48.32sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.34sINFOros2_control_node[2026-09-08 23:12:36.689] [info] Received new action goal ×2 + 48.34sINFOros2_control_node[2026-09-08 23:12:36.689] [info] Accepted new action goal ×2 + 49.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106057 ms (missed cycles : 5). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106057 ms (missed cycles : 5).[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 · 13726 info |
+ 0.00sINFOros2_control_nodeReceived new action goal[0m ×4510 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4510 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2254 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2254 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474951 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.474951 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860026 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.860026 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171365 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171365 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909210.88173175 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 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_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212680 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212680 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_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: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×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 + 3.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788909211.50866938 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 4.00sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.01sINFOros2_control_node[2026-09-08 23:13:31.672] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-09-08 23:13:31.672] [info] Accepted new action goal ×2 + 4.02sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342125 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.342125 ms (missed cycles : 4).[0m ×2 + 5.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.33sINFOobjective_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 + 5.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301846 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301846 ms (missed cycles : 2).[0m ×2 + 5.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130230 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.130230 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895699 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895699 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.956413 ms (missed cycles : 8). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.956413 ms (missed cycles : 8).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734951 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.734951 ms (missed cycles : 4).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993765 ms (missed cycles : 2). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993765 ms (missed cycles : 2).[0m ×2 + 10.81sWARNros2_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 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800145 ms (missed cycles : 2). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800145 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395174 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395174 ms (missed cycles : 3).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988247 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.988247 ms (missed cycles : 2).[0m ×2 + 14.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932987 ms (missed cycles : 2). + 14.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.932987 ms (missed cycles : 2).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053330 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053330 ms (missed cycles : 3).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450009 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.450009 ms (missed cycles : 4).[0m ×2 + 17.79sWARNros2_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 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764371 ms (missed cycles : 2). + 18.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764371 ms (missed cycles : 2).[0m ×2 + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776578 ms (missed cycles : 2). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776578 ms (missed cycles : 2).[0m ×2 + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839234 ms (missed cycles : 2). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839234 ms (missed cycles : 2).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577020 ms (missed cycles : 3). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577020 ms (missed cycles : 3).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 23.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 25.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 25.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 25.93sINFOobjective_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: ""
+ 25.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.23sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 26.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.25sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 26.25sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 26.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 26.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 28.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 28.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 234 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196105 ms (missed cycles : 2).[0m ×2 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×4 + 0.93sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 1.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.07sINFOobjective_server_nodeFound path in 1 iterations (0.00313664 s). ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976968 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976968 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.32sINFOros2_control_node[2026-09-08 23:11:33.735] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-09-08 23:11:33.735] [info] Accepted new action goal ×2 + 1.72sINFOros2_control_node[2026-09-08 23:11:34.137] [info] Received new action goal ×2 + 1.72sINFOros2_control_node[2026-09-08 23:11:34.137] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780290 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780290 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_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 + 2.71sINFOros2_control_node[2026-09-08 23:11:35.128] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-09-08 23:11:35.128] [info] Canceling active goal... ×2 + 2.72sERRORobjective_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: 1788909095.13826513 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764898 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764898 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.31sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.31sINFOobjective_server_nodecaller: ×6 + 3.31sINFOobjective_server_nodetype: 0 ×6 + 3.31sINFOobjective_server_nodename: "" ×6 + 3.31sINFOobjective_server_nodeinstance_id: "" ×6 + 3.31sINFOobjective_server_node ×6 + 3.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788909095.84160423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (7.42e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-09-08 23:11:36.005] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-08 23:11:36.005] [info] Accepted new action goal ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006805 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006805 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514299 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514299 ms (missed cycles : 5).[0m ×2 + 6.09sINFOros2_control_node[2026-09-08 23:11:38.511] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-09-08 23:11:38.511] [info] Accepted new action goal ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706622 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706622 ms (missed cycles : 2).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.771539 ms (missed cycles : 5). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.771539 ms (missed cycles : 5).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638206 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638206 ms (missed cycles : 2).[0m ×2 + 9.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141251 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141251 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595553 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595553 ms (missed cycles : 2).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909435 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909435 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2).[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5).[0m ×2 + 14.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788909107.06920671 seconds ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3).[0m ×2 + 15.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.19sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.24sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788909107.66224909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788909107.73238873 seconds ×3 + 15.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.93sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 15.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 16.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.11sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 16.11sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 18.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 57 warnings · 222 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.35% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618555 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618555 ms (missed cycles : 3).[0m ×2 + 0.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.88sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.88sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.88sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.88sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895837 ms (missed cycles : 2). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895837 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-08 23:12:33.492] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-08 23:12:33.492] [info] Accepted new action goal ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699728 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.699728 ms (missed cycles : 3).[0m ×2 + 2.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788909154.64681149 seconds ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_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 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.56sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.56sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.56sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.56sINFOobjective_server_nodecaller: ×4 + 3.56sINFOobjective_server_nodetype: 0 ×4 + 3.56sINFOobjective_server_nodename: "" ×4 + 3.56sINFOobjective_server_nodeinstance_id: "" ×4 + 3.56sINFOobjective_server_node ×4 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803918 ms (missed cycles : 3). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803918 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788909155.43473577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358350 ms (missed cycles : 4). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358350 ms (missed cycles : 4).[0m ×2 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.99sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.01sINFOros2_control_node[2026-09-08 23:12:36.689] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-08 23:12:36.689] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106057 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.106057 ms (missed cycles : 5).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147747 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.147747 ms (missed cycles : 5).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592441 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.592441 ms (missed cycles : 3).[0m ×2 + 8.72sINFOobjective_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 + 8.72sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.72sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.72sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.73sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351385 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351385 ms (missed cycles : 4).[0m ×2 + 10.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367704 ms (missed cycles : 4). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367704 ms (missed cycles : 4).[0m ×2 + 11.11sINFOobjective_server_nodeFound path in 0 iterations (6.68e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.15sINFOros2_control_node[2026-09-08 23:12:42.828] [info] Received new action goal ×2 + 11.15sINFOros2_control_node[2026-09-08 23:12:42.828] [info] Accepted new action goal ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148150 ms (missed cycles : 5). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148150 ms (missed cycles : 5).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179347 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179347 ms (missed cycles : 3).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496058 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496058 ms (missed cycles : 2).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788909166.43490767 seconds ×3 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614710 ms (missed cycles : 5). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614710 ms (missed cycles : 5).[0m ×2 + 15.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.35sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.41sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788909167.09047174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.47sWARNros2_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 + 15.56sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 15.56sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.56sINFOros2_control_node[2026-09-08 23:12:47.244] [info] Received new action goal ×2 + 15.56sINFOros2_control_node[2026-09-08 23:12:47.244] [info] Accepted new action goal ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061469 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061469 ms (missed cycles : 2).[0m ×2 + 16.83sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.84sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601215 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601215 ms (missed cycles : 3).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513402 ms (missed cycles : 2). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513402 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 61 errors · 39 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788909289.13370514 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 0.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.58sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.58sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.58sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.58sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.58sINFOobjective_server_nodecaller: ×8 + 0.58sINFOobjective_server_nodetype: 0 ×8 + 0.58sINFOobjective_server_nodename: "" ×8 + 0.58sINFOobjective_server_nodeinstance_id: "" ×8 + 0.58sINFOobjective_server_node ×8 + 0.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.36sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.36sINFOobjective_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 + 2.36sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.36sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 3.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788909292.68064165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788909293.33075833 seconds ×3 + 4.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706320 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706320 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354808 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354808 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412885 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412885 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503602 ms (missed cycles : 6). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.503602 ms (missed cycles : 6).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762346 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.762346 ms (missed cycles : 3).[0m ×2 + 10.42sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.42sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.43sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.44sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.44sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.45sERRORweb_video_auth_proxy-23process has died [pid 7378, 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 + 10.45sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.45sERRORweb_bridge_auth_proxy-22process has died [pid 7377, 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 + 10.45sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.46sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.47sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.47sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.48sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.48sINFOvideo_server-21process has finished cleanly [pid 7376] ×2 + 10.48sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.49sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.49sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.49sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.50sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.50sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.51sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.52sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.52sINFOcontroller_managerShutdown request received.... + 10.52sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.52sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.52sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.52sINFOvideo_server2026/09/08 23:14:59 INF shutting down gracefully ×2 + 10.52sINFOvideo_server2026/09/08 23:14:59 INF [WebRTC] closing ×2 + 10.52sINFOvideo_server2026/09/08 23:14:59 INF [RTSP] closing ×2 + 10.52sINFOvideo_server2026/09/08 23:14:59 INF waiting for running hooks ×2 + 10.52sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.52sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.52sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.52sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.52sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.52sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.52sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.52sERRORmove_groupStack trace (most recent call last) in thread 7724: ×2 + 10.52sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.52sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.52sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.52sINFOcontroller_managerShutting down the controller manager. + 10.52sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.52sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.52sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59aa4dea63, in __clone ×2 + 10.52sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59aa451aa3, in ×2 + 10.52sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f59aa6e3db3, in ×2 + 10.52sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f59aae48a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.52sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59aaa75620, in rclcpp::Rate::sleep() ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.52sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.52sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59aa9b7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.53sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f59aa979087, in ×2 + 10.53sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f59aa6b2390, in __cxa_throw ×2 + 10.53sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f59aa69ca54, in std::terminate() ×2 + 10.53sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f59aa6b20d9, in ×2 + 10.53sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f59aa69cff4, in ×2 + 10.53sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59aa3dd8fe, in abort ×2 + 10.53sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59aa3fa27d, in raise ×2 + 10.53sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f59aa453b2c, in pthread_kill ×2 + 10.53sERRORmove_groupAborted (Signal sent by tkill() 7295 0) ×2 + 10.53sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.53sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.53sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.53sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.53sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.53sERRORmove_group-9process has died [pid 7295, 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_l8mp_h2u --params-file /tmp/launch_params_6ryy4b4j --params-file /tmp/launch_params_tiwm6tbx --params-file /tmp/launch_params_cag241kj --params-file /tmp/launch_params_ujdt40jl --params-file /tmp/launch_params_8ucysmwo']. ×2 + 10.73sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.73sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 10.73sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.51sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7375] ×2 + 11.51sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.54sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7298] ×2 + 11.54sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7299] ×2 + 11.57sINFOexecute_objective_bridge-17process has finished cleanly [pid 7303] ×2 + 11.58sINFOcomponent_container_mt-16process has finished cleanly [pid 7302] ×2 + 11.58sINFOwaypoint_manager_node-11process has finished cleanly [pid 7297] ×2 + 11.58sINFOui_teleop_bridge-18process has finished cleanly [pid 7304] ×2 + 11.59sINFOparameter_manager_node-10process has finished cleanly [pid 7296] ×2 + 11.63sINFOobjective_server_node[0;m[2026-09-08 23:15:00.750] [moveit_pro_license] [info] ×2 + 11.63sINFOobjective_server_node************************************************* ×4 + 11.63sINFOobjective_server_node* MoveIt Pro License ×2 + 11.63sINFOobjective_server_node* Application has successfully terminated ×2 + 11.77sINFOobjective_server_node_main-14process has finished cleanly [pid 7300] ×2 + 11.77sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.68sINFOcomponent_container_mt-15process has finished cleanly [pid 7301] ×2 + 12.89sINFOweb_bridge-19process has finished cleanly [pid 7305] ×2 + 12.89sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.15sINFOros2_control_node-1process has finished cleanly [pid 7246] ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 56 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.01sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 1.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.88sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.34sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_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 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.52sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.54sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 5.83sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.03sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.04sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.05sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151843 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151843 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.063946 ms (missed cycles : 8). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.063946 ms (missed cycles : 8).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013616 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013616 ms (missed cycles : 2).[0m ×2 + 8.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112174 ms (missed cycles : 2). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112174 ms (missed cycles : 2).[0m ×2 + 9.82sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 9.84sINFOros2_control_node[2026-09-08 23:10:35.685] [info] Received new action goal ×2 + 9.84sINFOros2_control_node[2026-09-08 23:10:35.685] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135171 ms (missed cycles : 5). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.135171 ms (missed cycles : 5).[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126271 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126271 ms (missed cycles : 2).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730748 ms (missed cycles : 5). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730748 ms (missed cycles : 5).[0m ×2 + 13.15sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 13.16sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.17sINFOros2_control_node[2026-09-08 23:10:39.015] [info] Received new action goal ×2 + 13.17sINFOros2_control_node[2026-09-08 23:10:39.015] [info] Accepted new action goal ×2 + 13.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.87sINFOros2_control_node[2026-09-08 23:10:39.721] [info] Got request to cancel active goal. ×2 + 13.87sINFOros2_control_node[2026-09-08 23:10:39.721] [info] Canceling active goal... ×2 + 13.89sERRORobjective_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: 1788909039.73720837 seconds ×3 + 13.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054828 ms (missed cycles : 4). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054828 ms (missed cycles : 4).[0m ×2 + 13.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.49sINFOobjective_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: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788909040.41276526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 14.78sINFOros2_control_node[2026-09-08 23:10:40.626] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-08 23:10:40.626] [info] Accepted new action goal ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664479 ms (missed cycles : 6). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664479 ms (missed cycles : 6).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562474 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562474 ms (missed cycles : 3).[0m ×2 + 17.05sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 17.05sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.07sINFOros2_control_node[2026-09-08 23:10:42.916] [info] Received new action goal ×2 + 17.07sINFOros2_control_node[2026-09-08 23:10:42.916] [info] Accepted new action goal ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956641 ms (missed cycles : 3). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956641 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 57 warnings · 2256 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 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_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709955 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709955 ms (missed cycles : 2).[0m ×2 + 7.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.67sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.67sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.95sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 7.95sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 8.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 1 iterations (0.00251933 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.28sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.29sINFOros2_control_node[2026-09-08 23:13:58.077] [info] Received new action goal ×2 + 8.29sINFOros2_control_node[2026-09-08 23:13:58.077] [info] Accepted new action goal ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.924206 ms (missed cycles : 6). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.924206 ms (missed cycles : 6).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438402 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438402 ms (missed cycles : 2).[0m ×2 + 10.60sINFOros2_control_node[2026-09-08 23:14:00.387] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-09-08 23:14:00.387] [info] Accepted new action goal ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421164 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.421164 ms (missed cycles : 4).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 12.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.37sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 12.37sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 12.66sWARNros2_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 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 13.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 14.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.91sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 15.00sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 15.18sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 17.09sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 60 warnings · 407 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.30sERRORobjective_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: 1788909276.63071394 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.91sINFOobjective_server_nodecaller: ×14 + 1.91sINFOobjective_server_nodetype: 0 ×14 + 1.91sINFOobjective_server_nodename: "" ×14 + 1.91sINFOobjective_server_nodeinstance_id: "" ×14 + 1.91sINFOobjective_server_node ×14 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 3.85sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902503 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902503 ms (missed cycles : 2).[0m ×2 + 6.82sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.83sINFOros2_control_node[2026-09-08 23:14:42.162] [info] Received new action goal ×2 + 6.83sINFOros2_control_node[2026-09-08 23:14:42.162] [info] Accepted new action goal ×2 + 6.83sINFOros2_control_node[2026-09-08 23:14:42.163] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665858 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665858 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601962 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601962 ms (missed cycles : 2).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017480 ms (missed cycles : 4). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017480 ms (missed cycles : 4).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5).[0m ×2 + 10.90sWARNros2_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 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4).[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5).[0m ×2 + 13.80sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 13.80sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 13.80sERRORobjective_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: 1788909289.13370514 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 14.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 15.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 16.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.09sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 16.15sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.15sINFOobjective_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 + 16.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 16.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.70sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.75sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 17.01sWARNros2_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 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 17.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.30sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 204 info |
+ 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.00sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.01sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.03sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788909081.17444611 seconds ×3 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112761 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112761 ms (missed cycles : 4).[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427059 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427059 ms (missed cycles : 4).[0m ×2 + 2.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112190 ms (missed cycles : 7). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112190 ms (missed cycles : 7).[0m ×2 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788909084.74813223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:24.962] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:24.962] [info] Accepted new action goal ×2 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007621 ms (missed cycles : 5). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007621 ms (missed cycles : 5).[0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353973 ms (missed cycles : 4). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353973 ms (missed cycles : 4).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700680 ms (missed cycles : 3). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700680 ms (missed cycles : 3).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842266 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842266 ms (missed cycles : 3).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412343 ms (missed cycles : 7). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.412343 ms (missed cycles : 7).[0m ×2 + 8.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.28sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (4.42e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×4 + 8.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 1 iterations (0.00462571 s). ×2 + 8.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 2 iterations (0.00665212 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 1 iterations (0.00343137 s). ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869808 ms (missed cycles : 2). + 9.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869808 ms (missed cycles : 2).[0m ×2 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (6.35e-07 s). ×2 + 9.50sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.68sINFOros2_control_node[2026-09-08 23:11:30.815] [info] Received new action goal ×2 + 9.68sINFOros2_control_node[2026-09-08 23:11:30.815] [info] Accepted new action goal ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441845 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441845 ms (missed cycles : 4).[0m ×2 + 10.54sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196105 ms (missed cycles : 2). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196105 ms (missed cycles : 2).[0m ×2 + 12.20sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 12.20sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.21sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 12.23sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 12.32sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 12.34sINFOobjective_server_nodeFound path in 1 iterations (0.00313664 s). ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976968 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976968 ms (missed cycles : 2).[0m ×2 + 12.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.60sINFOros2_control_node[2026-09-08 23:11:33.735] [info] Received new action goal ×2 + 12.60sINFOros2_control_node[2026-09-08 23:11:33.735] [info] Accepted new action goal ×2 + 13.00sINFOros2_control_node[2026-09-08 23:11:34.137] [info] Received new action goal ×2 + 13.00sINFOros2_control_node[2026-09-08 23:11:34.137] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780290 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780290 ms (missed cycles : 2).[0m ×2 + 13.98sINFOobjective_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 + 13.99sINFOros2_control_node[2026-09-08 23:11:35.128] [info] Got request to cancel active goal. ×2 + 13.99sINFOros2_control_node[2026-09-08 23:11:35.128] [info] Canceling active goal... ×2 + 14.00sERRORobjective_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: 1788909095.13826513 seconds ×3 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764898 ms (missed cycles : 3). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764898 ms (missed cycles : 3).[0m ×2 + 14.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.59sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.70sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788909095.84160423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeFound path in 0 iterations (7.42e-07 s). ×2 + 14.87sINFOros2_control_node[2026-09-08 23:11:36.005] [info] Received new action goal ×2 + 14.87sINFOros2_control_node[2026-09-08 23:11:36.005] [info] Accepted new action goal ×2 + 14.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006805 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006805 ms (missed cycles : 3).[0m ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514299 ms (missed cycles : 5). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514299 ms (missed cycles : 5).[0m ×2 + 17.37sINFOros2_control_node[2026-09-08 23:11:38.511] [info] Received new action goal ×2 + 17.37sINFOros2_control_node[2026-09-08 23:11:38.511] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378250 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378250 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037635 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037635 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361830 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361830 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788909265.63678384 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.11sINFOobjective_server_nodecaller: ×8 + 3.11sINFOobjective_server_nodetype: 0 ×8 + 3.11sINFOobjective_server_nodename: "" ×8 + 3.11sINFOobjective_server_nodeinstance_id: "" ×8 + 3.11sINFOobjective_server_node ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257671 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257671 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788909266.24045539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.19sWARNros2_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 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-08 23:14:26.364] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-08 23:14:26.364] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223539 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223539 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194157 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194157 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076130 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076130 ms (missed cycles : 4).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896668 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896668 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957774 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957774 ms (missed cycles : 3).[0m ×2 + 8.61sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325349 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.325349 ms (missed cycles : 2).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 13.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 13.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 13.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788909276.63071394 seconds ×3 + 14.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 14.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 14.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 14.91sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 15.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 15.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 15.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 15.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.78sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 15.78sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 16.10sWARNros2_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 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126271 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.126271 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730748 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.730748 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.37sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 1.38sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.39sINFOros2_control_node[2026-09-08 23:10:39.015] [info] Received new action goal ×2 + 1.39sINFOros2_control_node[2026-09-08 23:10:39.015] [info] Accepted new action goal ×2 + 2.09sINFOobjective_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 + 2.09sINFOros2_control_node[2026-09-08 23:10:39.721] [info] Got request to cancel active goal. ×2 + 2.09sINFOros2_control_node[2026-09-08 23:10:39.721] [info] Canceling active goal... ×2 + 2.11sERRORobjective_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: 1788909039.73720837 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054828 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.054828 ms (missed cycles : 4).[0m ×2 + 2.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788909040.41276526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 2.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.00sINFOros2_control_node[2026-09-08 23:10:40.626] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-09-08 23:10:40.626] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664479 ms (missed cycles : 6). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664479 ms (missed cycles : 6).[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562474 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562474 ms (missed cycles : 3).[0m ×2 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.29sINFOros2_control_node[2026-09-08 23:10:42.916] [info] Received new action goal ×2 + 5.29sINFOros2_control_node[2026-09-08 23:10:42.916] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956641 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956641 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383838 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.383838 ms (missed cycles : 6).[0m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153965 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153965 ms (missed cycles : 2).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.919411 ms (missed cycles : 9). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.919411 ms (missed cycles : 9).[0m ×2 + 8.78sWARNros2_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 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786482 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786482 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 12.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 12.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 13.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 13.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 15.56sWARNros2_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 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 54 warnings · 135 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.01sINFOobjective_server_nodecaller: ×4 + 3.01sINFOobjective_server_nodetype: 0 ×4 + 3.01sINFOobjective_server_nodename: "" ×4 + 3.01sINFOobjective_server_nodeinstance_id: "" ×4 + 3.01sINFOobjective_server_node ×4 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884168 ms (missed cycles : 2). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884168 ms (missed cycles : 2).[0m ×2 + 7.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587655 ms (missed cycles : 4). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.587655 ms (missed cycles : 4).[0m ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766615 ms (missed cycles : 5). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.766615 ms (missed cycles : 5).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817767 ms (missed cycles : 2). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817767 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874277 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874277 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417317 ms (missed cycles : 4). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417317 ms (missed cycles : 4).[0m ×2 + 12.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510005 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510005 ms (missed cycles : 2).[0m ×2 + 13.44sINFOobjective_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 + 13.44sERRORobjective_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: 1788909255.12216377 seconds ×3 + 13.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.99sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.04sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788909255.72122049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224368 ms (missed cycles : 4). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224368 ms (missed cycles : 4).[0m ×2 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 14.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.35sINFOros2_control_node[2026-09-08 23:14:16.028] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-09-08 23:14:16.028] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779354 ms (missed cycles : 5). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779354 ms (missed cycles : 5).[0m ×2 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684488 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684488 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 54 warnings · 222 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.88sINFOobjective_server_nodecaller: ×6 + 2.88sINFOobjective_server_nodetype: 0 ×6 + 2.88sINFOobjective_server_nodename: "" ×6 + 2.88sINFOobjective_server_nodeinstance_id: "" ×6 + 2.88sINFOobjective_server_node ×6 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 + 7.17sINFOobjective_server_nodeFound path in 0 iterations (5.22e-07 s). ×2 + 7.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.18sINFOros2_control_node[2026-09-08 23:11:06.434] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-09-08 23:11:06.434] [info] Accepted new action goal ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573133 ms (missed cycles : 4). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.573133 ms (missed cycles : 4).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203548 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203548 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429775 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429775 ms (missed cycles : 2).[0m ×2 + 9.51sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 9.52sINFOros2_control_node[2026-09-08 23:11:08.772] [info] Received new action goal ×2 + 9.52sINFOros2_control_node[2026-09-08 23:11:08.772] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.752230 ms (missed cycles : 6). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.752230 ms (missed cycles : 6).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 11.87sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 11.87sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 12.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_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 + 13.98sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 13.98sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 13.99sERRORobjective_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: 1788909073.24296880 seconds ×3 + 14.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.56sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.63sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 14.82sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.84sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 14.84sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 57 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.658265 ms (missed cycles : 7). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.658265 ms (missed cycles : 7).[0m ×2 + 6.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 6.54sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 6.55sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 6.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.83sINFOobjective_server_nodeFound path in 0 iterations (4.97e-07 s). ×2 + 6.84sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×4 + 6.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 6.93sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.03sINFOobjective_server_nodeFound path in 1 iterations (0.00315803 s). ×2 + 7.18sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.21sINFOobjective_server_nodeFound path in 2 iterations (0.00500724 s). ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.34sINFOobjective_server_nodeFound path in 1 iterations (0.00318856 s). ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 7.49sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001474 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001474 ms (missed cycles : 2).[0m ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 7.77sINFOros2_control_node[2026-09-08 23:11:18.609] [info] Received new action goal ×2 + 7.77sINFOros2_control_node[2026-09-08 23:11:18.609] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786969 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786969 ms (missed cycles : 3).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680958 ms (missed cycles : 4). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680958 ms (missed cycles : 4).[0m ×2 + 10.03sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.30sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.30sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.31sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788909081.17444611 seconds ×3 + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112761 ms (missed cycles : 4). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112761 ms (missed cycles : 4).[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427059 ms (missed cycles : 4). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.427059 ms (missed cycles : 4).[0m ×2 + 12.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112190 ms (missed cycles : 7). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.112190 ms (missed cycles : 7).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 13.90sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788909084.74813223 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOros2_control_node[2026-09-08 23:11:24.962] [info] Received new action goal ×2 + 14.12sINFOros2_control_node[2026-09-08 23:11:24.962] [info] Accepted new action goal ×2 + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007621 ms (missed cycles : 5). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007621 ms (missed cycles : 5).[0m ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353973 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353973 ms (missed cycles : 4).[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700680 ms (missed cycles : 3). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700680 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874277 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874277 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417317 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417317 ms (missed cycles : 4).[0m ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510005 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510005 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sERRORobjective_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: 1788909255.12216377 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.03sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.03sINFOobjective_server_nodecaller: ×4 + 3.03sINFOobjective_server_nodetype: 0 ×4 + 3.03sINFOobjective_server_nodename: "" ×4 + 3.03sINFOobjective_server_nodeinstance_id: "" ×4 + 3.03sINFOobjective_server_node ×4 + 3.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788909255.72122049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224368 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224368 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.39sINFOros2_control_node[2026-09-08 23:14:16.028] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-08 23:14:16.028] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779354 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779354 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684488 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684488 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398947 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398947 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202454 ms (missed cycles : 3). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202454 ms (missed cycles : 3).[0m ×2 + 7.41sINFOros2_control_node[2026-09-08 23:14:20.052] [info] Received new action goal ×2 + 7.41sINFOros2_control_node[2026-09-08 23:14:20.052] [info] Accepted new action goal ×2 + 7.66sWARNros2_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 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365102 ms (missed cycles : 3). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365102 ms (missed cycles : 3).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836216 ms (missed cycles : 5). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.836216 ms (missed cycles : 5).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378250 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378250 ms (missed cycles : 2).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037635 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037635 ms (missed cycles : 4).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361830 ms (missed cycles : 4). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361830 ms (missed cycles : 4).[0m ×2 + 12.99sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788909265.63678384 seconds ×3 + 13.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.54sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257671 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257671 ms (missed cycles : 3).[0m ×2 + 13.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788909266.24045539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.62sWARNros2_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 + 13.71sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 13.72sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.72sINFOros2_control_node[2026-09-08 23:14:26.364] [info] Received new action goal ×2 + 13.72sINFOros2_control_node[2026-09-08 23:14:26.364] [info] Accepted new action goal ×2 + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223539 ms (missed cycles : 4). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223539 ms (missed cycles : 4).[0m ×2 + 15.63sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194157 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194157 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.1s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.63sINFOobjective_server_nodecaller: ×8 + 2.63sINFOobjective_server_nodetype: 0 ×8 + 2.63sINFOobjective_server_nodename: "" ×8 + 2.63sINFOobjective_server_nodeinstance_id: "" ×8 + 2.63sINFOobjective_server_node ×8 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3).[0m ×2 + 7.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.05sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.06sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614370 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.614370 ms (missed cycles : 2).[0m ×2 + 7.24sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.28sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.36sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.38sINFOobjective_server_nodeFound path in 1 iterations (0.00281547 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.61sINFOros2_control_node[2026-09-08 23:10:56.237] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-09-08 23:10:56.237] [info] Accepted new action goal ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683817 ms (missed cycles : 2). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683817 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086796 ms (missed cycles : 4). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086796 ms (missed cycles : 4).[0m ×2 + 9.91sINFOros2_control_node[2026-09-08 23:10:58.540] [info] Received new action goal ×2 + 9.91sINFOros2_control_node[2026-09-08 23:10:58.540] [info] Accepted new action goal ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419992 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419992 ms (missed cycles : 4).[0m ×2 + 10.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 11.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 11.68sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 11.68sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 12.97sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 13.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.50sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 13.59sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.67sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 14.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.26sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.32sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.44sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 16.60sWARNros2_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 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.8s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5).[0m ×2 + 1.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788909107.06920671 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.20sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.20sINFOobjective_server_nodecaller: ×6 + 2.20sINFOobjective_server_nodetype: 0 ×6 + 2.20sINFOobjective_server_nodename: "" ×6 + 2.20sINFOobjective_server_nodeinstance_id: "" ×6 + 2.20sINFOobjective_server_node ×6 + 2.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788909107.66224909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788909107.73238873 seconds ×3 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 2.99sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 3.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.12sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 3.12sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 6.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.67sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.74sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.74sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.82sINFOobjective_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 + 6.83sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.16sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 8.83sWARNros2_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 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_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 + 2.94sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788909289.13370514 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.51sINFOobjective_server_nodecaller: ×8 + 3.51sINFOobjective_server_nodetype: 0 ×8 + 3.51sINFOobjective_server_nodename: "" ×8 + 3.51sINFOobjective_server_nodeinstance_id: "" ×8 + 3.51sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.29sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.84sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788909292.68064165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.14sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788909293.33075833 seconds ×3 + 7.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 695 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.21sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.21sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.43sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.43sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.44sWARNros2_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 + 0.44sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.44sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.44sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.44sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.44sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.44sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.44sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.44sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.44sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.44sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.44sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.44sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.44sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.44sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.44sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.44sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.44sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.44sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.44sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.44sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.44sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.44sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.47sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.47sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.48sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.48sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.48sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878252 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878252 ms (missed cycles : 4).[0m ×2 + 0.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.76sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.76sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.76sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.76sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.76sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.76sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.78sINFOcomponent_container_mt[2026-09-08 23:10:21.999] [moveit_pro_license] [info] ×2 + 0.78sINFOcomponent_container_mt************************************************* ×4 + 0.78sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.78sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.81sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.81sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.81sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.81sINFOforce_torque_sensor_broadcasterconfigure successful + 0.81sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.82sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.82sINFOros2-3process has finished cleanly [pid 7248] ×2 + 0.82sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.82sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.95sINFOros2_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 + 0.95sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.95sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 1.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.12sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.12sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.12sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.12sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.14sINFOros2-2process has finished cleanly [pid 7247] ×2 + 1.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.27sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.27sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.27sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.30sINFOros2_control_node[2026-09-08 23:10:22.517] [info] Controller state will be published at 10 Hz. ×2 + 1.30sINFOros2_control_node[2026-09-08 23:10:22.518] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332515 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332515 ms (missed cycles : 2).[0m ×2 + 1.59sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.59sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.59sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.59sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.59sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.59sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.64sINFOros2-7process has finished cleanly [pid 7263] ×2 + 1.65sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.65sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.65sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.65sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.65sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.65sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.65sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.65sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.65sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.65sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.66sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.66sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.66sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.66sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.67sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.67sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.96sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.96sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.96sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.96sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.99sINFOros2-5process has finished cleanly [pid 7261] ×2 + 1.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.06sWARNobjective_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 + 2.12sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.22sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.22sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.31sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.31sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.31sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.31sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.34sINFOros2-4process has finished cleanly [pid 7260] ×2 + 2.38sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 2.38sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 2.42sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.42sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.42sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.42sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.42sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.43sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.45sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.45sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 2.45sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.79sINFOros2-6process has finished cleanly [pid 7262] ×2 + 2.82sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.82sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.82sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.82sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.86sINFOobjective_server_nodecaller: ×14 + 2.86sINFOobjective_server_nodetype: 0 ×14 + 2.86sINFOobjective_server_nodename: "" ×14 + 2.86sINFOobjective_server_nodeinstance_id: "" ×14 + 2.86sINFOobjective_server_node ×14 + 2.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 2.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 2.95sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.95sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.98sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 2.98sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 3.29sINFOros2-8process has finished cleanly [pid 7264] ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.52sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 4.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 4.64sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 5.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.91sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 7.14sWARNros2_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 + 7.34sINFOobjective_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 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_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: 1788909028.65203118 seconds ×3 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 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: 1788909029.25103450 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 + 8.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.15sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 8.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.17sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 8.17sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-08 23:10:58.540] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 23:10:58.540] [info] Accepted new action goal ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419992 ms (missed cycles : 4). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419992 ms (missed cycles : 4).[0m ×2 + 0.71sWARNros2_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 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 3.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.59sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.59sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.59sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.59sINFOobjective_server_nodecaller: ×4 + 3.59sINFOobjective_server_nodetype: 0 ×4 + 3.59sINFOobjective_server_nodename: "" ×4 + 3.59sINFOobjective_server_nodeinstance_id: "" ×4 + 3.59sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 4.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.35sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.53sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 6.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[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 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_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 + 2.66sERRORobjective_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: 1788909276.63071394 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.27sINFOobjective_server_nodename: "" ×6 + 3.27sINFOobjective_server_nodeinstance_id: "" ×6 + 3.27sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 5.20sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 + 6.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 24 warnings · 499 info |
+ 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.33sINFOros2-5process has finished cleanly [pid 7261] ×2 + 0.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sWARNobjective_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 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.68sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.72sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.76sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.76sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.76sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 0.79sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.13sINFOros2-6process has finished cleanly [pid 7262] ×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 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 1.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 1.63sINFOros2-8process has finished cleanly [pid 7264] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 5.47sWARNros2_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 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909435 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909435 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788909107.06920671 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788909107.66224909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788909107.73238873 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sERRORobjective_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: 1788909276.63071394 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.91sINFOobjective_server_nodecaller: ×6 + 1.91sINFOobjective_server_nodetype: 0 ×6 + 1.91sINFOobjective_server_nodename: "" ×6 + 1.91sINFOobjective_server_nodeinstance_id: "" ×6 + 1.91sINFOobjective_server_node ×6 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 3.85sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6).[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 7.890372 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_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 + 0.91sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 0.91sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 0.91sERRORobjective_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: 1788909289.13370514 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.94sINFOros2_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 2.062898 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.48sINFOobjective_server_nodecaller: ×8 + 1.48sINFOobjective_server_nodetype: 0 ×8 + 1.48sINFOobjective_server_nodename: "" ×8 + 1.48sINFOobjective_server_nodeinstance_id: "" ×8 + 1.48sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788909292.68064165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788909293.33075833 seconds ×3 + 5.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706320 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706320 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5).[0m ×2 + 0.90sINFOobjective_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 + 0.91sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 0.91sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 0.91sERRORobjective_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: 1788909289.13370514 seconds ×3 + 0.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.94sINFOros2_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 2.062898 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 1.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.48sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.48sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.48sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.48sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.48sINFOobjective_server_nodecaller: ×8 + 1.48sINFOobjective_server_nodetype: 0 ×8 + 1.48sINFOobjective_server_nodename: "" ×8 + 1.48sINFOobjective_server_nodeinstance_id: "" ×8 + 1.48sINFOobjective_server_node ×8 + 1.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.26sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.26sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.26sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 3.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 4.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788909292.68064165 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788909293.33075833 seconds ×3 + 5.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163669 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706320 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706320 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354808 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_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 + 2.66sERRORobjective_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: 1788909276.63071394 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.27sINFOobjective_server_nodename: "" ×6 + 3.27sINFOobjective_server_nodeinstance_id: "" ×6 + 3.27sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 5.20sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.497652 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333156 ms (missed cycles : 4).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.159185 ms (missed cycles : 5).[0m ×2 + 2.09sINFOobjective_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 + 2.09sERRORobjective_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: 1788909050.72332549 seconds ×3 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.63sINFOobjective_server_nodecaller: ×4 + 2.63sINFOobjective_server_nodetype: 0 ×4 + 2.63sINFOobjective_server_nodename: "" ×4 + 2.63sINFOobjective_server_nodeinstance_id: "" ×4 + 2.63sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788909051.31645441 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788909051.40661359 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464745 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788909052.04811287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (3.47e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:10:52.252] [info] Accepted new action goal ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830219 ms (missed cycles : 2).[0m ×2 + 4.56sWARNros2_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 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.614200 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783227 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 22 warnings · 121 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.806677 ms (missed cycles : 6).[0m ×2 + 1.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Received new action goal ×2 + 1.06sINFOros2_control_node[2026-09-08 23:11:00.312] [info] Accepted new action goal ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234368 ms (missed cycles : 2).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788909061.59841537 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.35sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.88sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.88sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.88sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.88sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.88sINFOobjective_server_nodecaller: ×4 + 2.88sINFOobjective_server_nodetype: 0 ×4 + 2.88sINFOobjective_server_nodename: "" ×4 + 2.88sINFOobjective_server_nodeinstance_id: "" ×4 + 2.88sINFOobjective_server_node ×4 + 2.97sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788909062.21712184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788909062.29724932 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.410204 ms (missed cycles : 5).[0m ×2 + 3.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.64sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.70sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788909062.95050025 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.81sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 3.81sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-09-08 23:11:03.075] [info] Accepted new action goal ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776873 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.866936 ms (missed cycles : 5).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.248587 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664759 ms (missed cycles : 3).[0m ×2 + 0.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.27sINFOobjective_server_nodeFound path in 0 iterations (5.84e-07 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Received new action goal ×2 + 0.28sINFOros2_control_node[2026-09-08 23:11:11.122] [info] Accepted new action goal ×2 + 0.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919512 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403481 ms (missed cycles : 2).[0m ×2 + 2.38sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Got request to cancel active goal. ×2 + 2.39sINFOros2_control_node[2026-09-08 23:11:13.230] [info] Canceling active goal... ×2 + 2.40sERRORobjective_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: 1788909073.24296880 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.97sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.97sINFOobjective_server_nodecaller: ×2 + 2.97sINFOobjective_server_nodetype: 0 ×2 + 2.97sINFOobjective_server_nodename: "" ×2 + 2.97sINFOobjective_server_nodeinstance_id: "" ×2 + 2.97sINFOobjective_server_node ×2 + 3.04sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788909073.88235593 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956639 ms (missed cycles : 2).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-08 23:11:14.087] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158809 ms (missed cycles : 5).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599140 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 96 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196105 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196105 ms (missed cycles : 2).[0m ×2 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.93sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 0.93sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.95sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 1.04sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.07sINFOobjective_server_nodeFound path in 1 iterations (0.00313664 s). ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976968 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976968 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOros2_control_node[2026-09-08 23:11:33.735] [info] Received new action goal ×2 + 1.32sINFOros2_control_node[2026-09-08 23:11:33.735] [info] Accepted new action goal ×2 + 1.72sINFOros2_control_node[2026-09-08 23:11:34.137] [info] Received new action goal ×2 + 1.72sINFOros2_control_node[2026-09-08 23:11:34.137] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780290 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780290 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_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 + 2.71sINFOros2_control_node[2026-09-08 23:11:35.128] [info] Got request to cancel active goal. ×2 + 2.71sINFOros2_control_node[2026-09-08 23:11:35.128] [info] Canceling active goal... ×2 + 2.72sERRORobjective_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: 1788909095.13826513 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764898 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764898 ms (missed cycles : 3).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.31sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.31sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.31sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.31sINFOobjective_server_nodecaller: ×2 + 3.31sINFOobjective_server_nodetype: 0 ×2 + 3.31sINFOobjective_server_nodename: "" ×2 + 3.31sINFOobjective_server_nodeinstance_id: "" ×2 + 3.31sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788909095.84160423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (7.42e-07 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.59sINFOros2_control_node[2026-09-08 23:11:36.005] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-08 23:11:36.005] [info] Accepted new action goal ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006805 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006805 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514299 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.514299 ms (missed cycles : 5).[0m ×2 + 6.09sINFOros2_control_node[2026-09-08 23:11:38.511] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-09-08 23:11:38.511] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909435 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909435 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080166 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107619 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788909107.06920671 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.69sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.565353 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788909107.66224909 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788909107.73238873 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.96sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.14sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 6.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788909108.40290666 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603814 ms (missed cycles : 3).[0m ×2 + 0.17sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-08 23:11:48.526] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996415 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788909110.53305745 seconds ×3 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.903266 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.868277 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788909112.14659548 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_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 + 3.89sINFOobjective_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 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (6.28e-07 s). ×2 + 4.17sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-09-08 23:11:52.565] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275026 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248399 ms (missed cycles : 2).[0m ×2 + 5.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069644 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148150 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.148150 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179347 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179347 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496058 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496058 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788909166.43490767 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614710 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.614710 ms (missed cycles : 5).[0m ×2 + 3.29sINFOobjective_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: ""
+ 3.29sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.29sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.29sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.29sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.29sINFOobjective_server_nodecaller: ×2 + 3.29sINFOobjective_server_nodetype: 0 ×2 + 3.29sINFOobjective_server_nodename: "" ×2 + 3.29sINFOobjective_server_nodeinstance_id: "" ×2 + 3.29sINFOobjective_server_node ×2 + 3.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788909167.09047174 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.50sINFOros2_control_node[2026-09-08 23:12:47.244] [info] Received new action goal ×2 + 3.50sINFOros2_control_node[2026-09-08 23:12:47.244] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061469 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061469 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_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 + 4.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601215 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601215 ms (missed cycles : 3).[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513402 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.513402 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 · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2146 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×343 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×343 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×686 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×686 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791763 ms (missed cycles : 2).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.877072 ms (missed cycles : 8).[0m ×2 + 1.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701084 ms (missed cycles : 2).[0m ×2 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788909232.99971223 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 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_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730735 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_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: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×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 + 3.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788909233.69972563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-09-08 23:13:53.914] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512442 ms (missed cycles : 4).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.719272 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328934 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 20 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.468982 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-08 23:14:02.153] [info] Accepted new action goal ×2 + 0.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163987 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788909243.43996239 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.077237 ms (missed cycles : 4).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.01sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.01sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.01sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.01sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.01sINFOobjective_server_nodecaller: ×2 + 3.01sINFOobjective_server_nodetype: 0 ×2 + 3.01sINFOobjective_server_nodename: "" ×2 + 3.01sINFOobjective_server_nodeinstance_id: "" ×2 + 3.01sINFOobjective_server_node ×2 + 3.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788909244.78172922 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071661 ms (missed cycles : 2).[0m ×2 + 3.27sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 3.27sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Received new action goal ×2 + 3.28sINFOros2_control_node[2026-09-08 23:14:04.965] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338174 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.229292 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874277 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.874277 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417317 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417317 ms (missed cycles : 4).[0m ×2 + 1.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510005 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510005 ms (missed cycles : 2).[0m ×2 + 2.48sINFOobjective_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 + 2.48sERRORobjective_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: 1788909255.12216377 seconds ×3 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.03sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.03sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.03sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.03sINFOobjective_server_nodecaller: ×2 + 3.03sINFOobjective_server_nodetype: 0 ×2 + 3.03sINFOobjective_server_nodename: "" ×2 + 3.03sINFOobjective_server_nodeinstance_id: "" ×2 + 3.03sINFOobjective_server_node ×2 + 3.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788909255.72122049 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224368 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224368 ms (missed cycles : 4).[0m ×2 + 3.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.39sINFOros2_control_node[2026-09-08 23:14:16.028] [info] Received new action goal ×2 + 3.39sINFOros2_control_node[2026-09-08 23:14:16.028] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779354 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.779354 ms (missed cycles : 5).[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684488 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684488 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378250 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378250 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037635 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037635 ms (missed cycles : 4).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361830 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.361830 ms (missed cycles : 4).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788909265.63678384 seconds ×3 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.11sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.11sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.11sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.11sINFOobjective_server_nodecaller: ×2 + 3.11sINFOobjective_server_nodetype: 0 ×2 + 3.11sINFOobjective_server_nodename: "" ×2 + 3.11sINFOobjective_server_nodeinstance_id: "" ×2 + 3.11sINFOobjective_server_node ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257671 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257671 ms (missed cycles : 3).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788909266.24045539 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNros2_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 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 3.29sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-09-08 23:14:26.364] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-09-08 23:14:26.364] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223539 ms (missed cycles : 4). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.223539 ms (missed cycles : 4).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194157 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194157 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_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 + 2.66sERRORobjective_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: 1788909276.63071394 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.27sINFOobjective_server_nodename: "" ×6 + 3.27sINFOobjective_server_nodeinstance_id: "" ×6 + 3.27sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 5.20sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_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 + 2.66sERRORobjective_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: 1788909276.63071394 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.27sINFOobjective_server_nodename: "" ×6 + 3.27sINFOobjective_server_nodeinstance_id: "" ×6 + 3.27sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 5.20sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.760280 ms (missed cycles : 2).[0m ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_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 + 2.66sERRORobjective_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: 1788909276.63071394 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.26sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.26sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.26sINFOobjective_server_nodecaller: ×6 + 3.26sINFOobjective_server_nodetype: 0 ×6 + 3.27sINFOobjective_server_nodename: "" ×6 + 3.27sINFOobjective_server_nodeinstance_id: "" ×6 + 3.27sINFOobjective_server_node ×6 + 3.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.38sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 3.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.94sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.99sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOobjective_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 + 4.01sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 4.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 4.67sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 4.88sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 5.20sWARNros2_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 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sERRORobjective_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: 1788909276.63071394 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.91sINFOobjective_server_nodecaller: ×6 + 1.91sINFOobjective_server_nodetype: 0 ×6 + 1.91sINFOobjective_server_nodename: "" ×6 + 1.91sINFOobjective_server_nodeinstance_id: "" ×6 + 1.91sINFOobjective_server_node ×6 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 3.85sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sERRORobjective_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: 1788909276.63071394 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.91sINFOobjective_server_nodecaller: ×6 + 1.91sINFOobjective_server_nodetype: 0 ×6 + 1.91sINFOobjective_server_nodename: "" ×6 + 1.91sINFOobjective_server_nodeinstance_id: "" ×6 + 1.91sINFOobjective_server_node ×6 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 3.85sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.364597 ms (missed cycles : 6).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997839 ms (missed cycles : 2).[0m ×2 + 1.29sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sERRORobjective_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: 1788909276.63071394 seconds ×3 + 1.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.38sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.91sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 1.91sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 1.91sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 1.91sINFOobjective_server_nodeparameter_overrides: [] ×6 + 1.91sINFOobjective_server_nodecaller: ×6 + 1.91sINFOobjective_server_nodetype: 0 ×6 + 1.91sINFOobjective_server_nodename: "" ×6 + 1.91sINFOobjective_server_nodeinstance_id: "" ×6 + 1.91sINFOobjective_server_node ×6 + 1.96sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788909277.29095817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.01sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.02sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788909277.37107778 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178698 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.58sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.63sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788909277.96230531 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788909277.98442030 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2). + 3.32sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842143 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788909278.73664284 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Received new action goal ×2 + 3.52sINFOros2_control_node[2026-09-08 23:14:38.850] [info] Accepted new action goal ×2 + 3.85sWARNros2_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 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066572 ms (missed cycles : 6).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.484904 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_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 + 2.94sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788909289.13370514 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.51sINFOobjective_server_nodecaller: ×8 + 3.51sINFOobjective_server_nodetype: 0 ×8 + 3.51sINFOobjective_server_nodename: "" ×8 + 3.51sINFOobjective_server_nodeinstance_id: "" ×8 + 3.51sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.29sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.84sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452569 ms (missed cycles : 5).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408207 ms (missed cycles : 4).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.890372 ms (missed cycles : 5).[0m ×2 + 2.93sINFOobjective_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 + 2.94sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Got request to cancel active goal. ×2 + 2.94sINFOros2_control_node[2026-09-08 23:14:49.127] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788909289.13370514 seconds ×3 + 2.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062898 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.51sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.51sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.51sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.51sINFOobjective_server_nodecaller: ×8 + 3.51sINFOobjective_server_nodetype: 0 ×8 + 3.51sINFOobjective_server_nodename: "" ×8 + 3.51sINFOobjective_server_nodeinstance_id: "" ×8 + 3.51sINFOobjective_server_node ×8 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788909289.75521684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967743 ms (missed cycles : 4).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788909290.87545824 seconds ×3 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310184 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788909291.47693992 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.29sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788909291.47943068 seconds ×3 + 5.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.84sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788909292.08162022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788909292.08208036 seconds ×3 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.742188 ms (missed cycles : 5).[0m ×2 + 6.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.44sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.8s | 40 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/2026-09-08-23-10-17-361973-32b840926c46-7198 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706159 ms (missed cycles : 5). + 0.86sINFOros2_control_node-1process started with pid [7246] ×2 + 0.86sINFOmove_group-9process started with pid [7295] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7296] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7297] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7298] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7299] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7300] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7301] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7302] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7303] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7304] ×2 + 0.87sINFOweb_bridge-19process started with pid [7305] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7375] ×2 + 0.87sINFOvideo_server-21process started with pid [7376] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7377] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7378] ×2 + 0.87sINFOros2-2process started with pid [7247] ×2 + 0.87sINFOros2-3process started with pid [7248] ×2 + 0.87sINFOros2-4process started with pid [7260] ×2 + 0.87sINFOros2-5process started with pid [7261] ×2 + 0.88sINFOros2-6process started with pid [7262] ×2 + 0.88sINFOros2-7process started with pid [7263] ×2 + 0.88sINFOros2-8process started with pid [7264] ×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 7.706159 ms (missed cycles : 5).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF configuration loaded from /tmp/moveit-webrtc-utgkonzi/mediamtx.yml ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.44sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.44sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990977 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990977 ms (missed cycles : 3).[0m ×2 + 1.91sINFOmove_group[2026-09-08 23:10:19.658] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.97sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.97sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.97sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.99sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.99sINFOros2_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 + 2.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.44sINFOmove_group ×4 + 2.44sINFOmove_group[92mYou can start planning now![0m ×2 + 2.60sINFOwaypoint_manager_node[2026-09-08 23:10:20.343] [moveit_pro_license] [info] ×2 + 2.60sINFOwaypoint_manager_node************************************************* ×4 + 2.60sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.60sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.70sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOobjective_server_node[2026-09-08 23:10:20.986] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.68sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.68sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.91sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.91sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.91sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.91sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.91sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.91sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.91sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.91sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.91sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.91sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.91sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.91sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.91sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.91sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.91sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.91sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.91sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.91sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.91sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.91sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.91sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.94sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.94sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.94sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.94sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 3.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 3.95sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.97sINFOcontroller_managerSuccessfully switched controllers! ×16 + 3.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878252 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.878252 ms (missed cycles : 4).[0m ×2 + 3.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.23sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.23sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.23sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.23sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.24sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 4.24sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 4.25sINFOcomponent_container_mt[2026-09-08 23:10:21.999] [moveit_pro_license] [info] ×2 + 4.25sINFOcomponent_container_mt************************************************* ×4 + 4.25sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.25sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.28sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.28sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.28sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.28sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.29sINFOforce_torque_sensor_broadcasterconfigure successful + 4.29sINFOros2_control_nodeconfigure successful[0m ×2 + 4.29sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.29sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.30sINFOros2-3process has finished cleanly [pid 7248] ×2 + 4.30sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.30sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.43sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 4.43sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.43sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 4.47sINFOlaunch_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 + 4.61sINFOros2-2process has finished cleanly [pid 7247] ×2 + 4.71sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 4.71sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 4.74sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 4.74sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 4.74sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 4.74sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 4.75sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.77sINFOros2_control_node[2026-09-08 23:10:22.517] [info] Controller state will be published at 10 Hz. ×2 + 4.77sINFOros2_control_node[2026-09-08 23:10:22.518] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332515 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332515 ms (missed cycles : 2).[0m ×2 + 5.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 5.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 5.11sINFOros2-7process has finished cleanly [pid 7263] ×2 + 5.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.13sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.13sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.43sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.43sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.43sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.43sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.44sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 5.44sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 5.47sINFOros2-5process has finished cleanly [pid 7261] ×2 + 5.47sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.47sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.47sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.47sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.47sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.47sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 5.48sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 5.48sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 5.48sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 5.48sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.53sWARNobjective_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 + 5.60sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 5.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.78sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.78sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.78sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.82sINFOros2-4process has finished cleanly [pid 7260] ×2 + 5.86sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 5.86sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 5.90sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.90sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.90sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.90sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.92sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.92sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 5.93sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.27sINFOros2-6process has finished cleanly [pid 7262] ×2 + 6.30sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.30sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.30sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.30sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.34sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.34sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.34sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.34sINFOobjective_server_nodecaller: ×10 + 6.34sINFOobjective_server_nodetype: 0 ×10 + 6.34sINFOobjective_server_nodename: "" ×10 + 6.34sINFOobjective_server_nodeinstance_id: "" ×10 + 6.34sINFOobjective_server_node ×10 + 6.38sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 6.38sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 6.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 6.43sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.43sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.43sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.43sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.46sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 6.46sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 6.77sINFOros2-8process has finished cleanly [pid 7264] ×2 + 6.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.94sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 8.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 8.11sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 8.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 9.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.38sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.43sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.45sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 9.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.99sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 10.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.27sINFOobjective_server_nodecaller: ×12 + 0.27sINFOobjective_server_nodetype: 0 ×12 + 0.27sINFOobjective_server_nodename: "" ×12 + 0.27sINFOobjective_server_nodeinstance_id: "" ×12 + 0.27sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 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 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 1.44sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[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: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 3.94sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 7.26sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.46sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.48sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 7.48sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 431 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.08sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.08sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.08sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.11sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 7262] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.52sINFOobjective_server_nodecaller: ×14 + 0.52sINFOobjective_server_nodetype: 0 ×14 + 0.52sINFOobjective_server_nodename: "" ×14 + 0.52sINFOobjective_server_nodeinstance_id: "" ×14 + 0.52sINFOobjective_server_node ×14 + 0.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.64sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 0.64sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7264] ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 2.29sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sINFOobjective_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: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 4.79sWARNros2_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 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 183 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-08-23-10-17-361973-32b840926c46-7198 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.706159 ms (missed cycles : 5). + 0.86sINFOros2_control_node-1process started with pid [7246] ×2 + 0.86sINFOmove_group-9process started with pid [7295] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7296] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7297] ×2 + 0.86sINFOmove_joint_resampler_node-12process started with pid [7298] ×2 + 0.86sINFOmove_end_effector_resampler_node-13process started with pid [7299] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7300] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7301] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7302] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7303] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7304] ×2 + 0.87sINFOweb_bridge-19process started with pid [7305] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7375] ×2 + 0.87sINFOvideo_server-21process started with pid [7376] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7377] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7378] ×2 + 0.87sINFOros2-2process started with pid [7247] ×2 + 0.87sINFOros2-3process started with pid [7248] ×2 + 0.87sINFOros2-4process started with pid [7260] ×2 + 0.87sINFOros2-5process started with pid [7261] ×2 + 0.88sINFOros2-6process started with pid [7262] ×2 + 0.88sINFOros2-7process started with pid [7263] ×2 + 0.88sINFOros2-8process started with pid [7264] ×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 7.706159 ms (missed cycles : 5).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.92sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.92sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF configuration loaded from /tmp/moveit-webrtc-utgkonzi/mediamtx.yml ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.07sINFOvideo_server2026/09/08 23:10:18 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.16sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.44sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.44sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990977 ms (missed cycles : 3). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990977 ms (missed cycles : 3).[0m ×2 + 1.91sINFOmove_group[2026-09-08 23:10:19.658] [moveit_pro_license] [info] ×2 + 1.91sINFOmove_group************************************************* ×4 + 1.91sINFOmove_group* MoveIt Pro License ×2 + 1.91sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.97sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.97sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.97sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.97sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.99sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.99sINFOros2_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 + 2.22sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.29sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.37sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.44sINFOmove_group ×4 + 2.44sINFOmove_group[92mYou can start planning now![0m ×2 + 2.60sINFOwaypoint_manager_node[2026-09-08 23:10:20.343] [moveit_pro_license] [info] ×2 + 2.60sINFOwaypoint_manager_node************************************************* ×4 + 2.60sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.60sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.70sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.24sINFOobjective_server_node[2026-09-08 23:10:20.986] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 499 info |
+ 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.33sINFOros2-5process has finished cleanly [pid 7261] ×2 + 0.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sWARNobjective_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 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.68sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.72sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.76sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.76sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.76sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 0.79sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.13sINFOros2-6process has finished cleanly [pid 7262] ×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 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 1.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 1.63sINFOros2-8process has finished cleanly [pid 7264] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 5.47sWARNros2_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 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 499 info |
+ 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.33sINFOros2-5process has finished cleanly [pid 7261] ×2 + 0.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sWARNobjective_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 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.68sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.72sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.76sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.76sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.76sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 0.79sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.13sINFOros2-6process has finished cleanly [pid 7262] ×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 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 1.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 1.63sINFOros2-8process has finished cleanly [pid 7264] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 5.47sWARNros2_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 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 499 info |
+ 0.00sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.00sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.33sINFOros2-5process has finished cleanly [pid 7261] ×2 + 0.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.39sWARNobjective_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 + 0.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.64sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.64sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.68sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.72sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.72sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.76sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.76sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.76sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.76sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.76sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.78sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 0.79sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.13sINFOros2-6process has finished cleanly [pid 7262] ×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 + 1.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.20sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.20sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.20sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.20sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.20sINFOobjective_server_nodecaller: ×14 + 1.20sINFOobjective_server_nodetype: 0 ×14 + 1.20sINFOobjective_server_nodename: "" ×14 + 1.20sINFOobjective_server_nodeinstance_id: "" ×14 + 1.20sINFOobjective_server_node ×14 + 1.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 1.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 1.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 1.29sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.29sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 1.32sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 1.63sINFOros2-8process has finished cleanly [pid 7264] ×2 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.80sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 2.97sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 4.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.24sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 5.47sWARNros2_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 + 5.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.74sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.30sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOobjective_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 + 6.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.49sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 431 info |
+ 0.00sINFOros2-4process has finished cleanly [pid 7260] ×2 + 0.04sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.04sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.08sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.08sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.08sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.08sINFOros2_control_node[2026-09-08 23:10:23.646] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.11sINFOros2_control_node[2026-09-08 23:10:23.670] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.11sINFOros2_control_node[2026-09-08 23:10:23.670] [info] Controller state will be published at 50 Hz. ×2 + 0.11sINFOros2_control_node[2026-09-08 23:10:23.675] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.29sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 7262] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.52sINFOobjective_server_nodecaller: ×14 + 0.52sINFOobjective_server_nodetype: 0 ×14 + 0.52sINFOobjective_server_nodename: "" ×14 + 0.52sINFOobjective_server_nodeinstance_id: "" ×14 + 0.52sINFOobjective_server_node ×14 + 0.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ro3o38nc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_f_yw_xnl --params-file /tmp/launch_params_tm74y3jm [0m ×2 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788909024.14300179 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788909024.15339279 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.61sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.61sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.61sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.64sINFOros2_control_node[2026-09-08 23:10:24.204] [info] Controller state will be published at 20 Hz. ×2 + 0.64sINFOros2_control_node[2026-09-08 23:10:24.205] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 0.95sINFOros2-8process has finished cleanly [pid 7264] ×2 + 1.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.12sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 2.29sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.85sINFOobjective_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: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.56sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 4.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.17sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 4.79sWARNros2_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 + 5.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.00sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 5.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.62sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.70sINFOobjective_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 + 5.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.70sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981339 ms (missed cycles : 3).[0m ×2 + 0.10sINFOros2-8process has finished cleanly [pid 7264] ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.27sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.27sINFOobjective_server_nodecaller: ×12 + 0.27sINFOobjective_server_nodetype: 0 ×12 + 0.27sINFOobjective_server_nodename: "" ×12 + 0.27sINFOobjective_server_nodeinstance_id: "" ×12 + 0.27sINFOobjective_server_node ×12 + 0.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788909024.73863983 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 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 1.44sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.46sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.04sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[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: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 3.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.32sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 3.94sWARNros2_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 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 4.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.77sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.83sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 4.96sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.97sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 4.97sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [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 | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [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 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151843 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151843 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317235 ms (missed cycles : 2).[0m ×2 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788909025.84881663 seconds ×3 + 0.32sWARNros2_control_nodeCamera render tick took 1.88 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788909026.46138120 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788909026.52160573 seconds ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.118811 ms (missed cycles : 3).[0m ×2 + 1.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788909027.17485547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788909027.19498372 seconds ×3 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788909027.78346848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453136 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788909027.93415737 seconds ×3 + 2.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788909028.61190104 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.10sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.10sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788909028.65203118 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908265 ms (missed cycles : 5).[0m ×2 + 3.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.65sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.71sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788909029.25103450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_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 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 0 iterations (2.5144e-05 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-09-08 23:10:29.387] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057639 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803370 ms (missed cycles : 3).[0m ×2 + 6.14sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-09-08 23:10:31.895] [info] Accepted new action goal ×2 | ||||