124
Total objective tests
32
Objectives passed
0
Objectives failed
92
Objectives skipped
9.0s
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 | 44.5s | 165 warnings · 21567 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237108 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430907 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430907 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240020 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240020 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788911366.02273607 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759061 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759061 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_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: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788911366.67673159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.71sINFOros2_control_node[2026-09-08 23:49:26.858] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 23:49:26.858] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756347 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756347 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_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 + 4.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553396 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553396 ms (missed cycles : 2).[0m ×2 + 5.57sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416822 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416822 ms (missed cycles : 2).[0m ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×3551 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×3551 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×7102 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×7102 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207192 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207192 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171755 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171755 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491081 ms (missed cycles : 7). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.491081 ms (missed cycles : 7).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738431 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738431 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127609 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.127609 ms (missed cycles : 2).[0m ×2 + 11.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.36 s); wrist_camera (1.36 s). The render path has stopped producing new frames for them.[0m ×2 + 12.03sINFOjoint_trajectory_controllerGot request to cancel goal ×11 + 12.04sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.04sINFOros2_control_nodeGot request to cancel goal[0m ×22 + 12.04sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.04sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142038 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142038 ms (missed cycles : 2).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846869 ms (missed cycles : 4). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.846869 ms (missed cycles : 4).[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859394 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859394 ms (missed cycles : 2).[0m ×2 + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072903 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072903 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835329 ms (missed cycles : 2). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835329 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033280 ms (missed cycles : 5). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.033280 ms (missed cycles : 5).[0m ×2 + 18.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066145 ms (missed cycles : 2). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066145 ms (missed cycles : 2).[0m ×2 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314372 ms (missed cycles : 2). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.314372 ms (missed cycles : 2).[0m ×2 + 20.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490487 ms (missed cycles : 2). + 20.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490487 ms (missed cycles : 2).[0m ×2 + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942013 ms (missed cycles : 2). + 22.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942013 ms (missed cycles : 2).[0m ×2 + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008175 ms (missed cycles : 2). + 23.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008175 ms (missed cycles : 2).[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770649 ms (missed cycles : 2). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770649 ms (missed cycles : 2).[0m ×2 + 24.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×4 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763398 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763398 ms (missed cycles : 2).[0m ×2 + 26.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064677 ms (missed cycles : 3). + 26.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.064677 ms (missed cycles : 3).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139087 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139087 ms (missed cycles : 2).[0m ×2 + 28.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892849 ms (missed cycles : 2). + 28.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892849 ms (missed cycles : 2).[0m ×2 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070214 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070214 ms (missed cycles : 2).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746486 ms (missed cycles : 2). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746486 ms (missed cycles : 2).[0m ×2 + 30.83sWARNros2_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 + 31.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273170 ms (missed cycles : 4). + 31.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.273170 ms (missed cycles : 4).[0m ×2 + 32.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168075 ms (missed cycles : 2). + 32.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.168075 ms (missed cycles : 2).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741623 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741623 ms (missed cycles : 2).[0m ×2 + 34.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867947 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867947 ms (missed cycles : 2).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125918 ms (missed cycles : 2). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125918 ms (missed cycles : 2).[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447954 ms (missed cycles : 2). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.447954 ms (missed cycles : 2).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669850 ms (missed cycles : 2). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669850 ms (missed cycles : 2).[0m ×2 + 38.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495256 ms (missed cycles : 2). + 38.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.495256 ms (missed cycles : 2).[0m ×2 + 39.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914871 ms (missed cycles : 2). + 39.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914871 ms (missed cycles : 2).[0m ×2 + 40.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048091 ms (missed cycles : 2). + 40.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048091 ms (missed cycles : 2).[0m ×2 + 41.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010677 ms (missed cycles : 2). + 41.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010677 ms (missed cycles : 2).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783927 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783927 ms (missed cycles : 2).[0m ×2 + 43.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962558 ms (missed cycles : 2). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962558 ms (missed cycles : 2).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156215 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156215 ms (missed cycles : 2).[0m ×2 + 46.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373670 ms (missed cycles : 2). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373670 ms (missed cycles : 2).[0m ×2 + 46.09sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589141 ms (missed cycles : 2). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589141 ms (missed cycles : 2).[0m ×2 + 47.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911410.48740935 seconds ×3 + 47.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.89sINFOobjective_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: ""
+ 47.89sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788911411.12245584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.02sINFOobjective_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 + 48.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.11sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 48.12sINFOros2_control_node[2026-09-08 23:50:11.266] [info] Received new action goal ×2 + 48.12sINFOros2_control_node[2026-09-08 23:50:11.266] [info] Accepted new action goal ×2 + 48.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820396 ms (missed cycles : 4). + 48.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820396 ms (missed cycles : 4).[0m ×2 + 48.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848720 ms (missed cycles : 2). + 49.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848720 ms (missed cycles : 2).[0m ×2 + 50.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684150 ms (missed cycles : 2). + 50.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684150 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 159 warnings · 342 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.02sINFOobjective_server_nodecaller: ×6 + 0.02sINFOobjective_server_nodetype: 0 ×6 + 0.02sINFOobjective_server_nodename: "" ×6 + 0.02sINFOobjective_server_nodeinstance_id: "" ×6 + 0.02sINFOobjective_server_node ×6 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×4 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915634 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915634 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462814 ms (missed cycles : 3). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462814 ms (missed cycles : 3).[0m ×2 + 9.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×4 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734558 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734558 ms (missed cycles : 3).[0m ×2 + 10.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.30sINFOros2_control_node[2026-09-08 23:48:38.324] [info] Received new action goal ×2 + 10.30sINFOros2_control_node[2026-09-08 23:48:38.324] [info] Accepted new action goal ×2 + 10.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218904 ms (missed cycles : 5). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.218904 ms (missed cycles : 5).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993725 ms (missed cycles : 2). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993725 ms (missed cycles : 2).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352796 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352796 ms (missed cycles : 2).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 13.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.32sINFOros2_control_node[2026-09-08 23:48:41.346] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-09-08 23:48:41.346] [info] Accepted new action goal ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688200 ms (missed cycles : 3). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688200 ms (missed cycles : 3).[0m ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.404167 ms (missed cycles : 7). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.404167 ms (missed cycles : 7).[0m ×2 + 16.28sINFOobjective_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 + 16.28sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.28sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284255 ms (missed cycles : 4). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284255 ms (missed cycles : 4).[0m ×2 + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235512 ms (missed cycles : 5). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.235512 ms (missed cycles : 5).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009131 ms (missed cycles : 5). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009131 ms (missed cycles : 5).[0m ×2 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228278 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228278 ms (missed cycles : 2).[0m ×2 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300399 ms (missed cycles : 3). + 20.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300399 ms (missed cycles : 3).[0m ×2 + 21.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×6 + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504837 ms (missed cycles : 4). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504837 ms (missed cycles : 4).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554341 ms (missed cycles : 4). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554341 ms (missed cycles : 4).[0m ×2 + 23.83sINFOobjective_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 + 23.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.83sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.83sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.83sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.83sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.84sINFOros2_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 12.744631 ms (missed cycles : 8). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.744631 ms (missed cycles : 8).[0m ×2 + 24.71sINFOros2_control_node[2026-09-08 23:48:52.742] [info] Received new action goal ×2 + 24.71sINFOros2_control_node[2026-09-08 23:48:52.742] [info] Accepted new action goal ×2 + 25.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781364 ms (missed cycles : 2). + 25.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781364 ms (missed cycles : 2).[0m ×2 + 25.90sINFOobjective_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 + 25.91sINFOobjective_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 + 26.24sINFOros2_control_node[2026-09-08 23:48:54.265] [info] Received new action goal ×2 + 26.24sINFOros2_control_node[2026-09-08 23:48:54.266] [info] Accepted new action goal ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747476 ms (missed cycles : 6). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747476 ms (missed cycles : 6).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744315 ms (missed cycles : 3). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.744315 ms (missed cycles : 3).[0m ×2 + 27.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252256 ms (missed cycles : 3). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252256 ms (missed cycles : 3).[0m ×2 + 28.52sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 28.52sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.54sINFOros2_control_node[2026-09-08 23:48:56.563] [info] Received new action goal ×2 + 28.54sINFOros2_control_node[2026-09-08 23:48:56.563] [info] Accepted new action goal ×2 + 29.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742014 ms (missed cycles : 2). + 29.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742014 ms (missed cycles : 2).[0m ×2 + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408915 ms (missed cycles : 2). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408915 ms (missed cycles : 2).[0m ×2 + 31.67sINFOros2_control_node[2026-09-08 23:48:59.693] [info] Received new action goal ×2 + 31.67sINFOros2_control_node[2026-09-08 23:48:59.693] [info] Accepted new action goal ×2 + 31.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967095 ms (missed cycles : 2). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967095 ms (missed cycles : 2).[0m ×2 + 32.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014444 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014444 ms (missed cycles : 2).[0m ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601198 ms (missed cycles : 2). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601198 ms (missed cycles : 2).[0m ×2 + 34.25sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 34.26sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.31sINFOros2_control_node[2026-09-08 23:49:02.336] [info] Received new action goal ×2 + 34.31sINFOros2_control_node[2026-09-08 23:49:02.336] [info] Accepted new action goal ×2 + 34.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575701 ms (missed cycles : 4). + 34.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575701 ms (missed cycles : 4).[0m ×2 + 36.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460777 ms (missed cycles : 2). + 36.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460777 ms (missed cycles : 2).[0m ×2 + 37.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549302 ms (missed cycles : 2). + 37.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549302 ms (missed cycles : 2).[0m ×2 + 38.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284932 ms (missed cycles : 4). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284932 ms (missed cycles : 4).[0m ×2 + 39.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358770 ms (missed cycles : 4). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358770 ms (missed cycles : 4).[0m ×2 + 40.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442648 ms (missed cycles : 2). + 40.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.442648 ms (missed cycles : 2).[0m ×2 + 41.21sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726233 ms (missed cycles : 2). + 41.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726233 ms (missed cycles : 2).[0m ×2 + 42.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942929 ms (missed cycles : 3). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942929 ms (missed cycles : 3).[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921545 ms (missed cycles : 3). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921545 ms (missed cycles : 3).[0m ×2 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701946 ms (missed cycles : 4). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701946 ms (missed cycles : 4).[0m ×2 + 45.03sINFOros2_control_node[2026-09-08 23:49:13.062] [info] Received new action goal ×2 + 45.04sINFOros2_control_node[2026-09-08 23:49:13.062] [info] Accepted new action goal ×2 + 45.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333991 ms (missed cycles : 2). + 45.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333991 ms (missed cycles : 2).[0m ×2 + 46.19sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788911354.21918440 seconds ×3 + 46.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030221 ms (missed cycles : 2). + 46.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030221 ms (missed cycles : 2).[0m ×2 + 46.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.77sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.97sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788911355.00257444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057260 ms (missed cycles : 4). + 47.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057260 ms (missed cycles : 4).[0m ×2 + 48.24sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 48.25sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.27sINFOros2_control_node[2026-09-08 23:49:16.297] [info] Received new action goal ×2 + 48.27sINFOros2_control_node[2026-09-08 23:49:16.297] [info] Accepted new action goal ×2 + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976672 ms (missed cycles : 3). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976672 ms (missed cycles : 3).[0m ×2 + 49.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 49.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565865 ms (missed cycles : 3). + 49.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565865 ms (missed cycles : 3).[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 | 91 warnings · 14424 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2371 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2371 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4742 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4742 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156215 ms (missed cycles : 2). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.156215 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373670 ms (missed cycles : 2). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373670 ms (missed cycles : 2).[0m ×2 + 1.96sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589141 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589141 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911410.48740935 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: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 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 + 3.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788911411.12245584 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_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 + 3.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.99sINFOros2_control_node[2026-09-08 23:50:11.266] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-09-08 23:50:11.266] [info] Accepted new action goal ×2 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820396 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820396 ms (missed cycles : 4).[0m ×2 + 4.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848720 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848720 ms (missed cycles : 2).[0m ×2 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.30sINFOobjective_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 + 5.31sINFOobjective_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 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684150 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684150 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663596 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663596 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896336 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896336 ms (missed cycles : 2).[0m ×2 + 9.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594461 ms (missed cycles : 3). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594461 ms (missed cycles : 3).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965072 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965072 ms (missed cycles : 2).[0m ×2 + 10.45sWARNros2_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 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.634616 ms (missed cycles : 6). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.634616 ms (missed cycles : 6).[0m ×2 + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978738 ms (missed cycles : 2). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978738 ms (missed cycles : 2).[0m ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321094 ms (missed cycles : 2). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321094 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613974 ms (missed cycles : 3). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613974 ms (missed cycles : 3).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785140 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785140 ms (missed cycles : 2).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772913 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772913 ms (missed cycles : 3).[0m ×2 + 16.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×4 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886378 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886378 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877754 ms (missed cycles : 2). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877754 ms (missed cycles : 2).[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986456 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.986456 ms (missed cycles : 2).[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675041 ms (missed cycles : 2). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675041 ms (missed cycles : 2).[0m ×2 + 22.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 22.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 23.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 24.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 24.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 25.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 25.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 25.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 25.90sINFOobjective_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: ""
+ 25.91sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 25.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 25.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 25.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.17sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 26.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.18sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 26.18sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 26.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 26.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 27.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 28.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 244 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.46e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00265345 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588692 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588692 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.35sINFOros2_control_node[2026-09-08 23:48:11.857] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-08 23:48:11.857] [info] Accepted new action goal ×2 + 0.75sINFOros2_control_node[2026-09-08 23:48:12.259] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-08 23:48:12.259] [info] Accepted new action goal ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999933 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999933 ms (missed cycles : 3).[0m ×2 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641552 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641552 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.18sINFOros2_control_node[2026-09-08 23:48:14.686] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-08 23:48:14.686] [info] Accepted new action goal ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-09-08 23:48:14.701] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-09-08 23:48:14.701] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1788911294.70708895 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465904 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465904 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.79sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.79sINFOobjective_server_nodecaller: ×6 + 3.79sINFOobjective_server_nodetype: 0 ×6 + 3.79sINFOobjective_server_nodename: "" ×6 + 3.79sINFOobjective_server_nodeinstance_id: "" ×6 + 3.79sINFOobjective_server_node ×6 + 3.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788911295.40631771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 23:48:15.600] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 23:48:15.600] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782362 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782362 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327561 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327561 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_node[2026-09-08 23:48:18.081] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-08 23:48:18.081] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557555 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557555 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115082 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115082 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414935 ms (missed cycles : 5). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414935 ms (missed cycles : 5).[0m ×2 + 10.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663994 ms (missed cycles : 4). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663994 ms (missed cycles : 4).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717414 ms (missed cycles : 2). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717414 ms (missed cycles : 2).[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080791 ms (missed cycles : 5). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080791 ms (missed cycles : 5).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4).[0m ×2 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2).[0m ×2 + 15.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 15.14sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788911306.65411210 seconds ×3 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5).[0m ×2 + 15.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.68sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.74sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788911307.24809003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.77sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.78sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.78sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.81sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788911307.31822157 seconds ×3 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 16.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.54sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.59sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.69sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 16.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.71sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 16.71sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 17.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 17.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 18.71sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 11.8s | 3 errors · 57 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1788911248.20885777 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×4 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.25sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.25sINFOobjective_server_nodecaller: ×8 + 2.25sINFOobjective_server_nodetype: 0 ×8 + 2.25sINFOobjective_server_nodename: "" ×8 + 2.25sINFOobjective_server_nodeinstance_id: "" ×8 + 2.25sINFOobjective_server_node ×8 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 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 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348354 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348354 ms (missed cycles : 2).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764122 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764122 ms (missed cycles : 2).[0m ×2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.56sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 8.56sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.67sINFOobjective_server_nodeFound path in 1 iterations (0.00256394 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.87sINFOros2_control_node[2026-09-08 23:47:35.370] [info] Received new action goal ×2 + 8.87sINFOros2_control_node[2026-09-08 23:47:35.370] [info] Accepted new action goal ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505055 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505055 ms (missed cycles : 2).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201890 ms (missed cycles : 4). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201890 ms (missed cycles : 4).[0m ×2 + 11.17sINFOros2_control_node[2026-09-08 23:47:37.673] [info] Received new action goal ×2 + 11.17sINFOros2_control_node[2026-09-08 23:47:37.673] [info] Accepted new action goal ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928746 ms (missed cycles : 6). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928746 ms (missed cycles : 6).[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 12.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.99sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 12.99sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 14.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 14.27sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 14.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.81sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.88sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.96sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 15.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.56sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.61sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 15.71sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 15.72sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.72sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 15.72sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 17.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 17.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 62 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921545 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921545 ms (missed cycles : 3).[0m ×2 + 0.62sINFOobjective_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 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.63sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.63sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.63sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 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 5.701946 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701946 ms (missed cycles : 4).[0m ×2 + 1.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-09-08 23:49:13.062] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-09-08 23:49:13.062] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333991 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.333991 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788911354.21918440 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030221 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030221 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.25sINFOobjective_server_nodetype: 0 ×4 + 3.25sINFOobjective_server_nodename: "" ×4 + 3.25sINFOobjective_server_nodeinstance_id: "" ×4 + 3.25sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788911355.00257444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057260 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057260 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.74sINFOros2_control_node[2026-09-08 23:49:16.297] [info] Received new action goal ×2 + 4.74sINFOros2_control_node[2026-09-08 23:49:16.297] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976672 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976672 ms (missed cycles : 3).[0m ×2 + 6.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565865 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565865 ms (missed cycles : 3).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149346 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.149346 ms (missed cycles : 4).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487531 ms (missed cycles : 6). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487531 ms (missed cycles : 6).[0m ×2 + 8.44sINFOobjective_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 + 8.44sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.44sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.44sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.44sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.572566 ms (missed cycles : 7). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.572566 ms (missed cycles : 7).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424308 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424308 ms (missed cycles : 4).[0m ×2 + 10.83sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 10.84sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.86sINFOros2_control_node[2026-09-08 23:49:22.418] [info] Received new action goal ×2 + 10.86sINFOros2_control_node[2026-09-08 23:49:22.418] [info] Accepted new action goal ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237108 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237108 ms (missed cycles : 3).[0m ×2 + 12.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430907 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430907 ms (missed cycles : 4).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240020 ms (missed cycles : 5). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240020 ms (missed cycles : 5).[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788911366.02273607 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759061 ms (missed cycles : 6). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759061 ms (missed cycles : 6).[0m ×2 + 15.06sINFOobjective_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: ""
+ 15.06sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788911366.67673159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 15.28sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.30sINFOros2_control_node[2026-09-08 23:49:26.858] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-09-08 23:49:26.858] [info] Accepted new action goal ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756347 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756347 ms (missed cycles : 2).[0m ×2 + 16.57sINFOobjective_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 + 16.58sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553396 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553396 ms (missed cycles : 2).[0m ×2 + 17.16sWARNros2_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 + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416822 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416822 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 57 errors · 39 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 0.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.26sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 0.26sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 0.26sERRORobjective_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: 1788911488.60957050 seconds ×3 + 0.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.83sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.83sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.83sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.83sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.83sINFOobjective_server_nodecaller: ×8 + 0.83sINFOobjective_server_nodetype: 0 ×8 + 0.83sINFOobjective_server_nodename: "" ×8 + 0.83sINFOobjective_server_nodeinstance_id: "" ×8 + 0.83sINFOobjective_server_node ×8 + 0.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 1.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.15sINFOobjective_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 + 2.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.74sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2).[0m ×2 + 4.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788911493.18463254 seconds ×3 + 4.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712996 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712996 ms (missed cycles : 2).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896283 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896283 ms (missed cycles : 2).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810587 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810587 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218299 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.218299 ms (missed cycles : 4).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727023 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727023 ms (missed cycles : 3).[0m ×2 + 10.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 10.45sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.45sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.46sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.47sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.47sERRORweb_video_auth_proxy-23process has died [pid 7380, 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 + 10.47sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.47sERRORweb_bridge_auth_proxy-22process has died [pid 7379, 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 + 10.47sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.47sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.48sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.48sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.49sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.49sINFOcomponent_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 + 10.50sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.50sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.51sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.51sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.52sINFOmove_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. + 10.52sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.52sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.52sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.52sINFOvideo_server2026/09/08 23:51:38 INF shutting down gracefully ×2 + 10.52sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.52sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.52sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.53sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.53sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.53sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.53sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.53sINFOvideo_server2026/09/08 23:51:38 INF [WebRTC] closing ×2 + 10.53sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.53sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.53sINFOvideo_server2026/09/08 23:51:38 INF [RTSP] closing ×2 + 10.53sINFOvideo_server2026/09/08 23:51:38 INF waiting for running hooks ×2 + 10.53sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.53sINFOcontroller_managerShutting down the controller manager. + 10.53sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.53sERRORmove_groupStack trace (most recent call last) in thread 7723: ×2 + 10.53sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.53sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.53sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.53sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.53sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.53sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×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 + 10.53sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.53sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f416195ca63, in __clone ×2 + 10.53sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f41618cfaa3, in ×2 + 10.53sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4161b61db3, in ×2 + 10.53sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f41622c6a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.53sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4161ef3620, in rclcpp::Rate::sleep() ×2 + 10.53sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4161e35d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.53sINFOvideo_server-21process has finished cleanly [pid 7378] ×2 + 10.54sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4161df7087, in ×2 + 10.54sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4161b30390, in __cxa_throw ×2 + 10.54sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4161b1aa54, in std::terminate() ×2 + 10.54sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4161b300d9, in ×2 + 10.54sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4161b1aff4, in ×2 + 10.54sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f416185b8fe, in abort ×2 + 10.54sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f416187827d, in raise ×2 + 10.54sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f41618d1b2c, in pthread_kill ×2 + 10.54sERRORmove_groupAborted (Signal sent by tkill() 7288 0) ×2 + 10.54sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.54sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.54sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 10.55sERRORmove_group-9process has died [pid 7288, 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_cziekaol --params-file /tmp/launch_params_m7yu37sk --params-file /tmp/launch_params_ryp92d8t --params-file /tmp/launch_params_fz8kb97x --params-file /tmp/launch_params_wap1sdr2 --params-file /tmp/launch_params_39dc579d']. ×2 + 11.53sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7377] ×2 + 11.53sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.54sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7292] ×2 + 11.55sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7291] ×2 + 11.58sINFOexecute_objective_bridge-17process has finished cleanly [pid 7296] ×2 + 11.59sINFOui_teleop_bridge-18process has finished cleanly [pid 7297] ×2 + 11.60sINFOwaypoint_manager_node-11process has finished cleanly [pid 7290] ×2 + 11.60sINFOcomponent_container_mt-16process has finished cleanly [pid 7295] ×2 + 11.61sINFOparameter_manager_node-10process has finished cleanly [pid 7289] ×2 + 11.70sINFOobjective_server_node[0;m[2026-09-08 23:51:40.052] [moveit_pro_license] [info] ×2 + 11.70sINFOobjective_server_node************************************************* ×4 + 11.70sINFOobjective_server_node* MoveIt Pro License ×2 + 11.70sINFOobjective_server_node* Application has successfully terminated ×2 + 11.83sINFOobjective_server_node_main-14process has finished cleanly [pid 7293] ×2 + 11.83sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.56sINFOweb_bridge-19process has finished cleanly [pid 7300] ×2 + 12.56sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.68sINFOcomponent_container_mt-15process has finished cleanly [pid 7294] ×2 + 12.96sINFOros2_control_node-1process has finished cleanly [pid 7247] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 57 warnings · 233 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×4 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.34sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.34sINFOobjective_server_nodecaller: ×6 + 2.34sINFOobjective_server_nodetype: 0 ×6 + 2.34sINFOobjective_server_nodename: "" ×6 + 2.34sINFOobjective_server_nodeinstance_id: "" ×6 + 2.34sINFOobjective_server_node ×6 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×4 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 6.60sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.62sINFOros2_control_node[2026-09-08 23:47:45.581] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-09-08 23:47:45.581] [info] Accepted new action goal ×2 + 7.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441580 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441580 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051283 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051283 ms (missed cycles : 2).[0m ×2 + 8.94sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 8.96sINFOros2_control_node[2026-09-08 23:47:47.919] [info] Received new action goal ×2 + 8.96sINFOros2_control_node[2026-09-08 23:47:47.919] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456746 ms (missed cycles : 5). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.456746 ms (missed cycles : 5).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 11.31sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 11.31sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 13.65sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 13.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 13.75sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1788911272.72054338 seconds ×3 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 14.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.41sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 14.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.60sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 14.60sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.2s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.77 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.05sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 0.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.62sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.62sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.62sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.62sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.62sINFOobjective_server_nodecaller: ×12 + 0.62sINFOobjective_server_nodetype: 0 ×12 + 0.62sINFOobjective_server_nodename: "" ×12 + 0.62sINFOobjective_server_nodeinstance_id: "" ×12 + 0.62sINFOobjective_server_node ×12 + 0.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 1.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.33sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 1.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.94sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 2.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.78sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.84sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.47sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.59sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 5.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.04sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.09sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.10sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.11sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.11sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152378 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152378 ms (missed cycles : 3).[0m ×2 + 7.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.579846 ms (missed cycles : 8). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.579846 ms (missed cycles : 8).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186464 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186464 ms (missed cycles : 2).[0m ×2 + 9.88sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 9.90sINFOros2_control_node[2026-09-08 23:47:13.099] [info] Received new action goal ×2 + 9.90sINFOros2_control_node[2026-09-08 23:47:13.099] [info] Accepted new action goal ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999757 ms (missed cycles : 3). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999757 ms (missed cycles : 3).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332219 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332219 ms (missed cycles : 3).[0m ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 13.22sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.23sINFOros2_control_node[2026-09-08 23:47:16.428] [info] Received new action goal ×2 + 13.23sINFOros2_control_node[2026-09-08 23:47:16.428] [info] Accepted new action goal ×2 + 13.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256768 ms (missed cycles : 4). + 13.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256768 ms (missed cycles : 4).[0m ×2 + 14.00sINFOobjective_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 + 14.01sINFOros2_control_node[2026-09-08 23:47:17.204] [info] Got request to cancel active goal. ×2 + 14.01sINFOros2_control_node[2026-09-08 23:47:17.204] [info] Canceling active goal... ×2 + 14.04sERRORobjective_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: 1788911237.23102212 seconds ×3 + 14.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.66sINFOobjective_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: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.72sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788911237.91826582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012515 ms (missed cycles : 5). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012515 ms (missed cycles : 5).[0m ×2 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 14.94sINFOros2_control_node[2026-09-08 23:47:18.132] [info] Received new action goal ×2 + 14.94sINFOros2_control_node[2026-09-08 23:47:18.132] [info] Accepted new action goal ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066082 ms (missed cycles : 4). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066082 ms (missed cycles : 4).[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025132 ms (missed cycles : 4). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025132 ms (missed cycles : 4).[0m ×2 + 17.19sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 17.20sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.21sINFOros2_control_node[2026-09-08 23:47:20.402] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-09-08 23:47:20.402] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911476.09955001 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.03sINFOobjective_server_nodecaller: ×14 + 2.03sINFOobjective_server_nodetype: 0 ×14 + 2.03sINFOobjective_server_nodename: "" ×14 + 2.03sINFOobjective_server_nodeinstance_id: "" ×14 + 2.03sINFOobjective_server_node ×14 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4).[0m ×2 + 6.93sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.93sINFOros2_control_node[2026-09-08 23:51:21.618] [info] Received new action goal ×2 + 6.93sINFOros2_control_node[2026-09-08 23:51:21.618] [info] Accepted new action goal ×2 + 6.93sINFOros2_control_node[2026-09-08 23:51:21.619] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000110 ms (missed cycles : 5). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000110 ms (missed cycles : 5).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190417 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190417 ms (missed cycles : 2).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970073 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970073 ms (missed cycles : 3).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2).[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3).[0m ×2 + 12.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 13.92sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 13.92sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 13.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911488.60957050 seconds ×3 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 15.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 15.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 15.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 16.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.35sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 16.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.94sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.00sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 217 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458417 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458417 ms (missed cycles : 2).[0m ×2 + 0.22sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.48sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.48sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.49sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788911281.39333916 seconds ×3 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774035 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774035 ms (missed cycles : 6).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433781 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433781 ms (missed cycles : 3).[0m ×2 + 2.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×4 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199972 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199972 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788911284.32116437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.66sINFOros2_control_node[2026-09-08 23:48:04.535] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-09-08 23:48:04.535] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029801 ms (missed cycles : 5). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029801 ms (missed cycles : 5).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879031 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879031 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791650 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791650 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.03sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.04sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 7.32sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.32sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.33sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 7.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.48sINFOobjective_server_nodeFound path in 1 iterations (0.00263903 s). ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828599 ms (missed cycles : 6). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.828599 ms (missed cycles : 6).[0m ×2 + 7.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 2 iterations (0.00664005 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 1 iterations (0.00386339 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 7.87sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.11sINFOros2_control_node[2026-09-08 23:48:08.988] [info] Received new action goal ×2 + 8.11sINFOros2_control_node[2026-09-08 23:48:08.988] [info] Accepted new action goal ×2 + 8.36sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899553 ms (missed cycles : 3). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899553 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204799 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.204799 ms (missed cycles : 4).[0m ×2 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 10.64sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.64sINFOobjective_server_nodeFound path in 0 iterations (1.46e-07 s). ×2 + 10.64sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 10.73sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 10.75sINFOobjective_server_nodeFound path in 1 iterations (0.00265345 s). ×2 + 10.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588692 ms (missed cycles : 3). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588692 ms (missed cycles : 3).[0m ×2 + 10.98sINFOros2_control_node[2026-09-08 23:48:11.857] [info] Received new action goal ×2 + 10.98sINFOros2_control_node[2026-09-08 23:48:11.857] [info] Accepted new action goal ×2 + 11.38sINFOros2_control_node[2026-09-08 23:48:12.259] [info] Received new action goal ×2 + 11.39sINFOros2_control_node[2026-09-08 23:48:12.259] [info] Accepted new action goal ×2 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999933 ms (missed cycles : 3). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999933 ms (missed cycles : 3).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641552 ms (missed cycles : 4). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641552 ms (missed cycles : 4).[0m ×2 + 13.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.81sINFOros2_control_node[2026-09-08 23:48:14.686] [info] Received new action goal ×2 + 13.81sINFOros2_control_node[2026-09-08 23:48:14.686] [info] Accepted new action goal ×2 + 13.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.83sINFOros2_control_node[2026-09-08 23:48:14.701] [info] Got request to cancel active goal. ×2 + 13.83sINFOros2_control_node[2026-09-08 23:48:14.701] [info] Canceling active goal... ×2 + 13.83sERRORobjective_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: 1788911294.70708895 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465904 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465904 ms (missed cycles : 3).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788911295.40631771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 14.73sINFOros2_control_node[2026-09-08 23:48:15.600] [info] Received new action goal ×2 + 14.73sINFOros2_control_node[2026-09-08 23:48:15.600] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782362 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782362 ms (missed cycles : 2).[0m ×2 + 16.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327561 ms (missed cycles : 2). + 16.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327561 ms (missed cycles : 2).[0m ×2 + 17.21sINFOros2_control_node[2026-09-08 23:48:18.081] [info] Received new action goal ×2 + 17.21sINFOros2_control_node[2026-09-08 23:48:18.081] [info] Accepted new action goal ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557555 ms (missed cycles : 2). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557555 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594707 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594707 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697312 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697312 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148919 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148919 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788911465.10377264 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110794 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110794 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.45sINFOobjective_server_nodecaller: ×8 + 3.45sINFOobjective_server_nodetype: 0 ×8 + 3.45sINFOobjective_server_nodename: "" ×8 + 3.45sINFOobjective_server_nodeinstance_id: "" ×8 + 3.45sINFOobjective_server_node ×8 + 3.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788911465.70926094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.64sINFOros2_control_node[2026-09-08 23:51:05.834] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-08 23:51:05.834] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546962 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546962 ms (missed cycles : 6).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989296 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989296 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804819 ms (missed cycles : 2).[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 7.04sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064150 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064150 ms (missed cycles : 4).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740745 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740745 ms (missed cycles : 4).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329764 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329764 ms (missed cycles : 2).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178459 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.178459 ms (missed cycles : 3).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 12.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sERRORobjective_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: 1788911476.09955001 seconds ×3 + 14.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.57sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.64sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 14.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 15.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.20sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.25sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.27sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 15.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 15.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.93sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.99sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.10sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 16.10sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.11sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 16.11sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 57 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792535 ms (missed cycles : 2).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332219 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332219 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.82sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.84sINFOros2_control_node[2026-09-08 23:47:16.428] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-08 23:47:16.428] [info] Accepted new action goal ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256768 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.256768 ms (missed cycles : 4).[0m ×2 + 2.61sINFOobjective_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 + 2.61sINFOros2_control_node[2026-09-08 23:47:17.204] [info] Got request to cancel active goal. ×2 + 2.61sINFOros2_control_node[2026-09-08 23:47:17.204] [info] Canceling active goal... ×2 + 2.64sERRORobjective_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: 1788911237.23102212 seconds ×3 + 2.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.65sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.26sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×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 + 3.26sINFOobjective_server_nodename: "" ×6 + 3.26sINFOobjective_server_nodeinstance_id: "" ×6 + 3.26sINFOobjective_server_node ×6 + 3.33sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788911237.91826582 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012515 ms (missed cycles : 5). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012515 ms (missed cycles : 5).[0m ×2 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.54sINFOros2_control_node[2026-09-08 23:47:18.132] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-09-08 23:47:18.132] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066082 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066082 ms (missed cycles : 4).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025132 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.025132 ms (missed cycles : 4).[0m ×2 + 5.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.80sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.81sINFOros2_control_node[2026-09-08 23:47:20.402] [info] Received new action goal ×2 + 5.81sINFOros2_control_node[2026-09-08 23:47:20.402] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914132 ms (missed cycles : 5). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914132 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379277 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379277 ms (missed cycles : 3).[0m ×2 + 8.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603845 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.603845 ms (missed cycles : 2).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040660 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040660 ms (missed cycles : 2).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2).[0m ×2 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 13.62sERRORobjective_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: 1788911248.20885777 seconds ×3 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 14.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 14.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.16sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 14.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.90sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 15.13sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 15.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.14sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 15.14sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 59 warnings · 135 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.24sINFOobjective_server_nodecaller: ×4 + 3.24sINFOobjective_server_nodetype: 0 ×4 + 3.24sINFOobjective_server_nodename: "" ×4 + 3.24sINFOobjective_server_nodeinstance_id: "" ×4 + 3.24sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942453 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942453 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165049 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.165049 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239488 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.239488 ms (missed cycles : 4).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226155 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226155 ms (missed cycles : 3).[0m ×2 + 11.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690160 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690160 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598067 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598067 ms (missed cycles : 3).[0m ×2 + 13.66sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.66sERRORobjective_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: 1788911454.60102367 seconds ×3 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200111 ms (missed cycles : 4). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200111 ms (missed cycles : 4).[0m ×2 + 14.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.20sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.26sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788911455.19942427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.53sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 14.54sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.56sINFOros2_control_node[2026-09-08 23:50:55.493] [info] Received new action goal ×2 + 14.56sINFOros2_control_node[2026-09-08 23:50:55.493] [info] Accepted new action goal ×2 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867696 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867696 ms (missed cycles : 2).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228120 ms (missed cycles : 5). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228120 ms (missed cycles : 5).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163553 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163553 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 62 warnings · 2334 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 + 7.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.35sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532907 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532907 ms (missed cycles : 3).[0m ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 7.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.67sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 7.73sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.76sINFOobjective_server_nodeFound path in 1 iterations (0.0022958 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 7.95sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 7.96sINFOros2_control_node[2026-09-08 23:50:37.340] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-09-08 23:50:37.340] [info] Accepted new action goal ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736479 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736479 ms (missed cycles : 2).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.433045 ms (missed cycles : 7). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.433045 ms (missed cycles : 7).[0m ×2 + 10.27sINFOros2_control_node[2026-09-08 23:50:39.642] [info] Received new action goal ×2 + 10.27sINFOros2_control_node[2026-09-08 23:50:39.642] [info] Accepted new action goal ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123628 ms (missed cycles : 4). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.123628 ms (missed cycles : 4).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 12.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.04sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 12.04sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 12.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 12.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 12.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 13.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 14.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 14.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 15.07sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 16.98sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 199 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.36sINFOobjective_server_nodecaller: ×4 + 3.36sINFOobjective_server_nodetype: 0 ×4 + 3.36sINFOobjective_server_nodename: "" ×4 + 3.36sINFOobjective_server_nodeinstance_id: "" ×4 + 3.36sINFOobjective_server_node ×4 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 + 7.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.75sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.75sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767875 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767875 ms (missed cycles : 2).[0m ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 8.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 0 iterations (8.37e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 1 iterations (0.00289777 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 2 iterations (0.00559585 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.49sINFOobjective_server_nodeFound path in 1 iterations (0.00307383 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437498 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.437498 ms (missed cycles : 3).[0m ×2 + 8.88sINFOros2_control_node[2026-09-08 23:47:58.827] [info] Received new action goal ×2 + 8.88sINFOros2_control_node[2026-09-08 23:47:58.827] [info] Accepted new action goal ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139638 ms (missed cycles : 2). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139638 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458417 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458417 ms (missed cycles : 2).[0m ×2 + 11.15sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.41sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.41sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.41sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.45sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788911281.39333916 seconds ×3 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774035 ms (missed cycles : 6). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774035 ms (missed cycles : 6).[0m ×2 + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433781 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433781 ms (missed cycles : 3).[0m ×2 + 13.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199972 ms (missed cycles : 5). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.199972 ms (missed cycles : 5).[0m ×2 + 14.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.29sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.37sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788911284.32116437 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.57sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 14.59sINFOros2_control_node[2026-09-08 23:48:04.535] [info] Received new action goal ×2 + 14.59sINFOros2_control_node[2026-09-08 23:48:04.535] [info] Accepted new action goal ×2 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029801 ms (missed cycles : 5). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.029801 ms (missed cycles : 5).[0m ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879031 ms (missed cycles : 5). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.879031 ms (missed cycles : 5).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791650 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791650 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226155 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226155 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690160 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690160 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598067 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598067 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1788911454.60102367 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200111 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200111 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.61sINFOobjective_server_nodecaller: ×4 + 3.61sINFOobjective_server_nodetype: 0 ×4 + 3.61sINFOobjective_server_nodename: "" ×4 + 3.61sINFOobjective_server_nodeinstance_id: "" ×4 + 3.61sINFOobjective_server_node ×4 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788911455.19942427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.97sINFOros2_control_node[2026-09-08 23:50:55.493] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-08 23:50:55.493] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867696 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867696 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228120 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228120 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163553 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163553 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080759 ms (missed cycles : 4). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080759 ms (missed cycles : 4).[0m ×2 + 7.99sINFOros2_control_node[2026-09-08 23:50:59.519] [info] Received new action goal ×2 + 7.99sINFOros2_control_node[2026-09-08 23:50:59.519] [info] Accepted new action goal ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404187 ms (missed cycles : 4). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404187 ms (missed cycles : 4).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304469 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304469 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594707 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594707 ms (missed cycles : 3).[0m ×2 + 11.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697312 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697312 ms (missed cycles : 2).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148919 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148919 ms (missed cycles : 2).[0m ×2 + 13.58sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788911465.10377264 seconds ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110794 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110794 ms (missed cycles : 4).[0m ×2 + 14.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.12sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 14.18sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788911465.70926094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 14.30sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.31sINFOros2_control_node[2026-09-08 23:51:05.834] [info] Received new action goal ×2 + 14.31sINFOros2_control_node[2026-09-08 23:51:05.834] [info] Accepted new action goal ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546962 ms (missed cycles : 6). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546962 ms (missed cycles : 6).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989296 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989296 ms (missed cycles : 2).[0m ×2 + 16.22sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804819 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2).[0m ×2 + 1.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.82sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788911306.65411210 seconds ×3 + 1.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5).[0m ×2 + 2.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.36sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.36sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.36sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.36sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.36sINFOobjective_server_nodecaller: ×6 + 2.36sINFOobjective_server_nodetype: 0 ×6 + 2.36sINFOobjective_server_nodename: "" ×6 + 2.36sINFOobjective_server_nodeinstance_id: "" ×6 + 2.36sINFOobjective_server_node ×6 + 2.41sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788911307.24809003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.44sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.45sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.46sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788911307.31822157 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 3.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.38sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 3.38sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 5.38sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 6.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.93sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.99sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.07sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.08sINFOobjective_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 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 7.30sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 7.30sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 7.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 10.14sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 10.16sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 10.16sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 36 warnings · 693 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.10sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.10sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.32sWARNobjective_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 + 0.54sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.54sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.54sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.54sWARNros2_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 + 0.54sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.54sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.54sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.54sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.54sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.54sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.54sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.54sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.54sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.54sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.54sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.54sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.54sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.54sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.54sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.59sINFOcomponent_container_mt[2026-09-08 23:46:59.260] [moveit_pro_license] [info] ×2 + 0.59sINFOcomponent_container_mt************************************************* ×4 + 0.59sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.59sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.73sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.73sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.74sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.74sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.74sINFOforce_torque_sensor_broadcasterconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.74sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.75sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.75sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.02sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.02sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.05sINFOros2-2process has finished cleanly [pid 7248] ×2 + 1.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.15sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 1.15sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.15sWARNros2_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 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466220 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466220 ms (missed cycles : 2).[0m ×2 + 1.16sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.16sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.16sINFOros2_control_node[2026-09-08 23:46:59.836] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_node[2026-09-08 23:46:59.836] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.20sINFOros2_control_node[2026-09-08 23:46:59.870] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.20sINFOros2_control_node[2026-09-08 23:46:59.870] [info] Controller state will be published at 50 Hz. ×2 + 1.21sINFOros2_control_node[2026-09-08 23:46:59.880] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.48sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.49sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.49sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.54sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.54sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.54sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.54sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.54sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.54sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.55sINFOros2-6process has finished cleanly [pid 7263] ×2 + 1.55sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.55sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.55sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.56sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.56sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.84sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.84sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.85sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.88sINFOros2-5process has finished cleanly [pid 7262] ×2 + 1.89sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.89sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.30sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.30sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.33sINFOros2-3process has finished cleanly [pid 7249] ×2 + 2.36sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 2.36sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 2.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.42sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 2.42sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.76sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.76sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.76sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.76sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.76sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 2.76sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 2.80sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.80sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.80sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.80sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.80sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.80sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 2.81sINFOros2-7process has finished cleanly [pid 7264] ×2 + 2.81sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.81sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.81sINFOobjective_server_nodecaller: ×14 + 2.81sINFOobjective_server_nodetype: 0 ×14 + 2.81sINFOobjective_server_nodename: "" ×14 + 2.81sINFOobjective_server_nodeinstance_id: "" ×14 + 2.81sINFOobjective_server_node ×14 + 2.81sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.81sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 3.10sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.10sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.10sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.10sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 3.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 3.17sINFOros2-4process has finished cleanly [pid 7261] ×2 + 3.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.46sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.47sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.59sINFOros2-8process has finished cleanly [pid 7265] ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 4.52sWARNros2_control_nodeCamera render tick took 1.77 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.19sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.25sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 5.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.85sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 6.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 6.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.47sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 7.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.30sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.39sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 7.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 7.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.12sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 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 4.531091 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_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 + 3.38sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 3.39sERRORobjective_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: 1788911488.60957050 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.95sINFOobjective_server_nodecaller: ×8 + 3.95sINFOobjective_server_nodetype: 0 ×8 + 3.95sINFOobjective_server_nodename: "" ×8 + 3.95sINFOobjective_server_nodeinstance_id: "" ×8 + 3.95sINFOobjective_server_node ×8 + 4.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_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 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2).[0m ×2 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788911493.18463254 seconds ×3 + 8.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-08 23:47:37.673] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-08 23:47:37.673] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928746 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.928746 ms (missed cycles : 6).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 2.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 3.10sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.71sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.43sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.55sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[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 3.210007 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sERRORobjective_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: 1788911248.20885777 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[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 3.709361 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788911476.09955001 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 7262] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-3process has finished cleanly [pid 7249] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 0.97sINFOros2-7process has finished cleanly [pid 7264] ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.33sINFOros2-4process has finished cleanly [pid 7261] ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7265] ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 2.68sWARNros2_control_nodeCamera render tick took 1.77 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 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[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 7.080791 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080791 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788911306.65411210 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788911307.24809003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788911307.31822157 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788911476.09955001 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3).[0m ×2 + 7.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 1.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 1.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911488.60957050 seconds ×3 + 1.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.46sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.46sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.46sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.46sINFOobjective_server_nodecaller: ×8 + 2.46sINFOobjective_server_nodetype: 0 ×8 + 2.46sINFOobjective_server_nodename: "" ×8 + 2.46sINFOobjective_server_nodeinstance_id: "" ×8 + 2.46sINFOobjective_server_node ×8 + 2.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.77sINFOobjective_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 + 3.78sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.78sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 4.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.91sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788911493.18463254 seconds ×3 + 6.50sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712996 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712996 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.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 4.531091 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 1.28sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 1.28sERRORobjective_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: 1788911488.60957050 seconds ×3 + 1.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.85sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.85sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.85sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.85sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.85sINFOobjective_server_nodecaller: ×8 + 1.85sINFOobjective_server_nodetype: 0 ×8 + 1.85sINFOobjective_server_nodename: "" ×8 + 1.85sINFOobjective_server_nodeinstance_id: "" ×8 + 1.85sINFOobjective_server_node ×8 + 1.90sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 3.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.11sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.17sINFOobjective_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 + 3.17sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.17sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 3.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.30sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670783 ms (missed cycles : 2).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788911493.18463254 seconds ×3 + 5.89sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712996 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712996 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.1s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788911476.09955001 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.1s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1788911248.20885777 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 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 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 25 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.27sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sERRORobjective_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: 1788911248.20885777 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210007 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sERRORobjective_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: 1788911248.20885777 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.35sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.35sINFOobjective_server_nodecaller: ×4 + 3.35sINFOobjective_server_nodetype: 0 ×4 + 3.35sINFOobjective_server_nodename: "" ×4 + 3.35sINFOobjective_server_nodeinstance_id: "" ×4 + 3.35sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 4.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.09sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.14sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 4.33sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1788911248.20885777 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 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 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1788911248.20885777 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 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 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818568 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.455982 ms (missed cycles : 3).[0m ×2 + 1.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sERRORobjective_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: 1788911248.20885777 seconds ×3 + 1.72sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.289030 ms (missed cycles : 7).[0m ×2 + 2.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.25sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.25sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.25sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.25sINFOobjective_server_nodecaller: ×4 + 2.25sINFOobjective_server_nodetype: 0 ×4 + 2.25sINFOobjective_server_nodename: "" ×4 + 2.25sINFOobjective_server_nodeinstance_id: "" ×4 + 2.25sINFOobjective_server_node ×4 + 2.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788911248.80630422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788911248.89643550 seconds ×3 + 2.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.04sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788911249.53900385 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 + 3.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.290283 ms (missed cycles : 5).[0m ×2 + 3.23sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.23sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Received new action goal ×2 + 3.23sINFOros2_control_node[2026-09-08 23:47:29.733] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.899515 ms (missed cycles : 3).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.590556 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454569 ms (missed cycles : 4).[0m ×2 + 0.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Received new action goal ×2 + 0.52sINFOros2_control_node[2026-09-08 23:47:39.483] [info] Accepted new action goal ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873039 ms (missed cycles : 3).[0m ×2 + 1.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788911260.77028489 seconds ×3 + 1.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703273 ms (missed cycles : 3).[0m ×2 + 2.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.34sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.34sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.34sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.34sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.34sINFOobjective_server_nodecaller: ×4 + 2.34sINFOobjective_server_nodetype: 0 ×4 + 2.34sINFOobjective_server_nodename: "" ×4 + 2.34sINFOobjective_server_nodeinstance_id: "" ×4 + 2.34sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788911261.38193369 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788911261.46206236 seconds ×3 + 3.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.10sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788911262.10753703 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600543 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-08 23:47:42.222] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.708229 ms (missed cycles : 6).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081651 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.831870 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 90 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516161 ms (missed cycles : 3).[0m ×2 + 0.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Received new action goal ×2 + 0.32sINFOros2_control_node[2026-09-08 23:47:50.269] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.037977 ms (missed cycles : 5).[0m ×2 + 1.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198422 ms (missed cycles : 5).[0m ×2 + 2.65sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Received new action goal ×2 + 2.66sINFOros2_control_node[2026-09-08 23:47:52.609] [info] Accepted new action goal ×2 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Got request to cancel active goal. ×2 + 2.76sINFOros2_control_node[2026-09-08 23:47:52.707] [info] Canceling active goal... ×2 + 2.77sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911272.72054338 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.317892 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.36sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.36sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.36sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.42sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788911273.37069440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Received new action goal ×2 + 3.62sINFOros2_control_node[2026-09-08 23:47:53.565] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.078561 ms (missed cycles : 5).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.720005 ms (missed cycles : 6).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.947440 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (1.46e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (1.83e-07 s). ×2 + 0.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.12sINFOobjective_server_nodeFound path in 1 iterations (0.00265345 s). ×2 + 0.27sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588692 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588692 ms (missed cycles : 3).[0m ×2 + 0.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.35sINFOros2_control_node[2026-09-08 23:48:11.857] [info] Received new action goal ×2 + 0.35sINFOros2_control_node[2026-09-08 23:48:11.857] [info] Accepted new action goal ×2 + 0.75sINFOros2_control_node[2026-09-08 23:48:12.259] [info] Received new action goal ×2 + 0.75sINFOros2_control_node[2026-09-08 23:48:12.259] [info] Accepted new action goal ×2 + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999933 ms (missed cycles : 3). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999933 ms (missed cycles : 3).[0m ×2 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641552 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.641552 ms (missed cycles : 4).[0m ×2 + 3.16sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.18sINFOros2_control_node[2026-09-08 23:48:14.686] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-09-08 23:48:14.686] [info] Accepted new action goal ×2 + 3.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOros2_control_node[2026-09-08 23:48:14.701] [info] Got request to cancel active goal. ×2 + 3.19sINFOros2_control_node[2026-09-08 23:48:14.701] [info] Canceling active goal... ×2 + 3.20sERRORobjective_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: 1788911294.70708895 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465904 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465904 ms (missed cycles : 3).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.79sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.79sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.79sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.79sINFOobjective_server_nodecaller: ×2 + 3.79sINFOobjective_server_nodetype: 0 ×2 + 3.79sINFOobjective_server_nodename: "" ×2 + 3.79sINFOobjective_server_nodeinstance_id: "" ×2 + 3.79sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788911295.40631771 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (4.21e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.09sINFOros2_control_node[2026-09-08 23:48:15.600] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-08 23:48:15.600] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782362 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782362 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327561 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.327561 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_node[2026-09-08 23:48:18.081] [info] Received new action goal ×2 + 6.57sINFOros2_control_node[2026-09-08 23:48:18.081] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557555 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557555 ms (missed cycles : 2).[0m ×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 7.080791 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080791 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.194277 ms (missed cycles : 4).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960950 ms (missed cycles : 2).[0m ×2 + 2.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788911306.65411210 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086114 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788911307.24809003 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.51sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788911307.31822157 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.31sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.41sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536237 ms (missed cycles : 6).[0m ×2 + 0.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.02sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.02sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.02sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.02sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.02sINFOobjective_server_nodecaller: ×4 + 0.02sINFOobjective_server_nodetype: 0 ×4 + 0.02sINFOobjective_server_nodename: "" ×4 + 0.02sINFOobjective_server_nodeinstance_id: "" ×4 + 0.02sINFOobjective_server_node ×4 + 0.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788911308.10214043 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.18sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 0.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Received new action goal ×2 + 0.19sINFOros2_control_node[2026-09-08 23:48:28.215] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492756 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788911310.22227645 seconds ×3 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.521428 ms (missed cycles : 7).[0m ×2 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.368159 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.80sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788911311.82898450 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 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-08 23:48:32.135] [info] Accepted new action goal ×2 + 4.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5). + 4.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.469364 ms (missed cycles : 5).[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086569 ms (missed cycles : 2).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855202 ms (missed cycles : 3).[0m ×2 + 6.95sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Received new action goal ×2 + 6.97sINFOros2_control_node[2026-09-08 23:48:34.997] [info] Accepted new action goal ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237108 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237108 ms (missed cycles : 3).[0m ×2 + 0.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430907 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.430907 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240020 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.240020 ms (missed cycles : 5).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788911366.02273607 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.88sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759061 ms (missed cycles : 6). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.759061 ms (missed cycles : 6).[0m ×2 + 3.47sINFOobjective_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: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788911366.67673159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 3.69sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.71sINFOros2_control_node[2026-09-08 23:49:26.858] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-09-08 23:49:26.858] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756347 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756347 ms (missed cycles : 2).[0m ×2 + 4.98sINFOobjective_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 + 4.99sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.03sINFOobjective_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 + 5.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553396 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.553396 ms (missed cycles : 2).[0m ×2 + 5.57sWARNros2_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 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416822 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416822 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 25 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.27sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 25 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.27sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 25 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.27sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 25 warnings · 2224 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×356 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×356 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×712 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×712 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701151 ms (missed cycles : 2).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719729 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444692 ms (missed cycles : 2).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482344 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788911432.59115100 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_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 + 3.27sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788911433.26297545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_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 + 3.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-08 23:50:33.458] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476165 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279436 ms (missed cycles : 2).[0m ×2 + 6.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992265 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 25 warnings · 74 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701893 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Received new action goal ×2 + 0.48sINFOros2_control_node[2026-09-08 23:50:41.416] [info] Accepted new action goal ×2 + 0.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486650 ms (missed cycles : 4).[0m ×2 + 1.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1788911442.70314288 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917335 ms (missed cycles : 3).[0m ×2 + 2.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.72sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.72sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499634 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.24sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.24sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.24sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.24sINFOobjective_server_nodecaller: ×2 + 3.24sINFOobjective_server_nodetype: 0 ×2 + 3.24sINFOobjective_server_nodename: "" ×2 + 3.24sINFOobjective_server_nodeinstance_id: "" ×2 + 3.24sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788911444.27037549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-09-08 23:50:44.444] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487000 ms (missed cycles : 2).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682206 ms (missed cycles : 3).[0m ×2 + 5.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.862698 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 25 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226155 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226155 ms (missed cycles : 3).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690160 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690160 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598067 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598067 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sERRORobjective_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: 1788911454.60102367 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200111 ms (missed cycles : 4). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200111 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.61sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.61sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.61sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.61sINFOobjective_server_nodecaller: ×2 + 3.61sINFOobjective_server_nodetype: 0 ×2 + 3.61sINFOobjective_server_nodename: "" ×2 + 3.61sINFOobjective_server_nodeinstance_id: "" ×2 + 3.61sINFOobjective_server_node ×2 + 3.67sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788911455.19942427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.95sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.97sINFOros2_control_node[2026-09-08 23:50:55.493] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-09-08 23:50:55.493] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867696 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867696 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228120 ms (missed cycles : 5). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.228120 ms (missed cycles : 5).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163553 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163553 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 23 warnings · 64 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594707 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.594707 ms (missed cycles : 3).[0m ×2 + 0.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697312 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697312 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148919 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148919 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788911465.10377264 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110794 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110794 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.51sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788911465.70926094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (6.23e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.64sINFOros2_control_node[2026-09-08 23:51:05.834] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-08 23:51:05.834] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546962 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.546962 ms (missed cycles : 6).[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989296 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989296 ms (missed cycles : 2).[0m ×2 + 5.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804819 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804819 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 3.709361 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788911476.09955001 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[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 3.709361 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788911476.09955001 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[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 3.709361 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709361 ms (missed cycles : 3).[0m ×2 + 1.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_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 + 2.44sERRORobjective_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: 1788911476.09955001 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.52sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.52sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.06sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.06sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.06sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.06sINFOobjective_server_nodecaller: ×6 + 3.06sINFOobjective_server_nodetype: 0 ×6 + 3.06sINFOobjective_server_nodename: "" ×6 + 3.06sINFOobjective_server_nodeinstance_id: "" ×6 + 3.06sINFOobjective_server_node ×6 + 3.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 3.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 4.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.47sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911476.09955001 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.03sINFOobjective_server_nodecaller: ×6 + 2.03sINFOobjective_server_nodetype: 0 ×6 + 2.03sINFOobjective_server_nodename: "" ×6 + 2.03sINFOobjective_server_nodeinstance_id: "" ×6 + 2.03sINFOobjective_server_node ×6 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911476.09955001 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.03sINFOobjective_server_nodecaller: ×6 + 2.03sINFOobjective_server_nodetype: 0 ×6 + 2.03sINFOobjective_server_nodename: "" ×6 + 2.03sINFOobjective_server_nodeinstance_id: "" ×6 + 2.03sINFOobjective_server_node ×6 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287330 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.644321 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788911476.09955001 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.03sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.03sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.03sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.03sINFOobjective_server_nodecaller: ×6 + 2.03sINFOobjective_server_nodetype: 0 ×6 + 2.03sINFOobjective_server_nodename: "" ×6 + 2.03sINFOobjective_server_nodeinstance_id: "" ×6 + 2.03sINFOobjective_server_node ×6 + 2.08sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788911476.76635766 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.16sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645717 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788911476.85649300 seconds ×3 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788911477.44847488 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_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 + 2.78sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788911477.47061825 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.213074 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.50sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788911478.18438458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-08 23:51:18.312] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.392141 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968134 ms (missed cycles : 3).[0m ×2 + 5.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581852 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 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 4.531091 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_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 + 3.38sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 3.39sERRORobjective_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: 1788911488.60957050 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.95sINFOobjective_server_nodecaller: ×8 + 3.95sINFOobjective_server_nodetype: 0 ×8 + 3.95sINFOobjective_server_nodename: "" ×8 + 3.95sINFOobjective_server_nodeinstance_id: "" ×8 + 3.95sINFOobjective_server_node ×8 + 4.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_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 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930073 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.761451 ms (missed cycles : 3).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 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 4.531091 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531091 ms (missed cycles : 3).[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.013933 ms (missed cycles : 5).[0m ×2 + 3.38sINFOobjective_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 + 3.38sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Got request to cancel active goal. ×2 + 3.38sINFOros2_control_node[2026-09-08 23:51:28.604] [info] Canceling active goal... ×2 + 3.39sERRORobjective_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: 1788911488.60957050 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.41sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.41sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.95sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.95sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.95sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.95sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.95sINFOobjective_server_nodecaller: ×8 + 3.95sINFOobjective_server_nodetype: 0 ×8 + 3.95sINFOobjective_server_nodename: "" ×8 + 3.95sINFOobjective_server_nodeinstance_id: "" ×8 + 3.95sINFOobjective_server_node ×8 + 4.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788911489.22973967 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.922295 ms (missed cycles : 6).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788911489.89987087 seconds ×3 + 5.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.22sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.159307 ms (missed cycles : 7).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788911490.49362230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.27sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.27sINFOobjective_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 + 5.27sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.27sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788911490.49558377 seconds ×3 + 5.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.81sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788911491.08777618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788911491.08830738 seconds ×3 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331788 ms (missed cycles : 4).[0m ×2 + 6.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.40sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788911491.68449378 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [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 | 39 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-08-23-46-54-802365-912ff75fda43-7199 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940567 ms (missed cycles : 3). + 0.86sINFOros2_control_node-1process started with pid [7247] ×2 + 0.86sINFOmove_group-9process started with pid [7288] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7289] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7290] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7291] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7292] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7293] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7294] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7295] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7296] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7297] ×2 + 0.87sINFOweb_bridge-19process started with pid [7300] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7377] ×2 + 0.87sINFOvideo_server-21process started with pid [7378] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7379] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7380] ×2 + 0.87sINFOros2-2process started with pid [7248] ×2 + 0.87sINFOros2-3process started with pid [7249] ×2 + 0.87sINFOros2-4process started with pid [7261] ×2 + 0.87sINFOros2-5process started with pid [7262] ×2 + 0.87sINFOros2-6process started with pid [7263] ×2 + 0.87sINFOros2-7process started with pid [7264] ×2 + 0.87sINFOros2-8process started with pid [7265] ×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 3.940567 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 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 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF configuration loaded from /tmp/moveit-webrtc-r7g2yulg/mediamtx.yml ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.46sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.83sINFOmove_group[2026-09-08 23:46:57.007] [moveit_pro_license] [info] ×2 + 1.83sINFOmove_group************************************************* ×4 + 1.83sINFOmove_group* MoveIt Pro License ×2 + 1.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.95sINFOros2_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 + 1.95sINFOros2_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 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987695 ms (missed cycles : 4). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987695 ms (missed cycles : 4).[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.12sINFOwaypoint_manager_node[2026-09-08 23:46:57.298] [moveit_pro_license] [info] ×2 + 2.12sINFOwaypoint_manager_node************************************************* ×4 + 2.12sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOmove_group ×4 + 2.34sINFOmove_group[92mYou can start planning now![0m ×2 + 3.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.30sINFOobjective_server_node[2026-09-08 23:46:58.474] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.60sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.60sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.82sWARNobjective_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 + 4.03sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.03sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.04sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.04sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.04sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.04sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.04sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.04sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.04sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.04sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.04sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.04sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.04sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.04sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.04sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.04sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.04sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.04sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.04sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.04sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.04sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.04sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.04sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.04sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.04sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.08sINFOcomponent_container_mt[2026-09-08 23:46:59.260] [moveit_pro_license] [info] ×2 + 4.08sINFOcomponent_container_mt************************************************* ×4 + 4.08sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.08sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.21sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.21sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.21sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.21sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.22sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 4.22sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 4.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.24sINFOforce_torque_sensor_broadcasterconfigure successful + 4.24sINFOros2_control_nodeconfigure successful[0m ×2 + 4.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.24sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.51sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.51sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.51sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.51sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.55sINFOros2-2process has finished cleanly [pid 7248] ×2 + 4.62sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 4.62sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 4.65sINFOros2_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 + 4.65sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.65sWARNros2_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 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466220 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466220 ms (missed cycles : 2).[0m ×2 + 4.66sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.66sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.66sINFOros2_control_node[2026-09-08 23:46:59.836] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.66sINFOros2_control_node[2026-09-08 23:46:59.836] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.67sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.69sINFOros2_control_node[2026-09-08 23:46:59.870] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.69sINFOros2_control_node[2026-09-08 23:46:59.870] [info] Controller state will be published at 50 Hz. ×2 + 4.70sINFOros2_control_node[2026-09-08 23:46:59.880] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.98sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.98sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.98sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 4.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 5.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.04sINFOros2-6process has finished cleanly [pid 7263] ×2 + 5.04sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.34sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.34sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.34sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.34sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.34sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 5.34sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 5.35sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.35sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.37sINFOros2-5process has finished cleanly [pid 7262] ×2 + 5.38sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.38sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.39sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.40sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.40sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.58sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.79sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.79sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.79sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.80sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.82sINFOros2-3process has finished cleanly [pid 7249] ×2 + 5.86sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 5.86sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 5.89sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.89sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.89sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.89sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.92sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 5.92sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 6.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 6.29sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.29sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 6.30sINFOros2-7process has finished cleanly [pid 7264] ×2 + 6.30sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.30sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.31sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.31sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.31sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.31sINFOobjective_server_nodecaller: ×10 + 6.31sINFOobjective_server_nodetype: 0 ×10 + 6.31sINFOobjective_server_nodename: "" ×10 + 6.31sINFOobjective_server_nodeinstance_id: "" ×10 + 6.31sINFOobjective_server_node ×10 + 6.31sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.31sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.36sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 6.60sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.60sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.66sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 6.66sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 6.66sINFOros2-4process has finished cleanly [pid 7261] ×2 + 6.70sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.70sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.70sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.70sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.73sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 6.73sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.91sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 6.96sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.08sINFOros2-8process has finished cleanly [pid 7265] ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 8.02sWARNros2_control_nodeCamera render tick took 1.77 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 + 8.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 8.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.63sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 9.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.35sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 9.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 9.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 372 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.07sINFOros2-4process has finished cleanly [pid 7261] ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.31sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.31sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.31sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.31sINFOobjective_server_nodecaller: ×12 + 0.31sINFOobjective_server_nodetype: 0 ×12 + 0.31sINFOobjective_server_nodename: "" ×12 + 0.31sINFOobjective_server_nodeinstance_id: "" ×12 + 0.31sINFOobjective_server_node ×12 + 0.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.48sINFOros2-8process has finished cleanly [pid 7265] ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodeCamera render tick took 1.77 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 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 7.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.46sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.53sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 7.53sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 460 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7249] ×2 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.12sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.50sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.50sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2-7process has finished cleanly [pid 7264] ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.51sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.51sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.51sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.51sINFOobjective_server_nodecaller: ×14 + 0.51sINFOobjective_server_nodetype: 0 ×14 + 0.51sINFOobjective_server_nodename: "" ×14 + 0.51sINFOobjective_server_nodeinstance_id: "" ×14 + 0.51sINFOobjective_server_node ×14 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.87sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.87sINFOros2-4process has finished cleanly [pid 7261] ×2 + 0.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 0.94sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×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 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOros2-8process has finished cleanly [pid 7265] ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 2.22sWARNros2_control_nodeCamera render tick took 1.77 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 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 3.55sINFOobjective_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: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 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: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[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: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_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: 1788911226.06063485 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 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/2026-09-08-23-46-54-802365-912ff75fda43-7199 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.58sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.59sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.59sINFOcontroller_managerupdate rate is 600 Hz + 0.59sINFOcontroller_managerOverruns handling is : enabled + 0.59sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.59sWARNcontroller_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. + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.940567 ms (missed cycles : 3). + 0.86sINFOros2_control_node-1process started with pid [7247] ×2 + 0.86sINFOmove_group-9process started with pid [7288] ×2 + 0.86sINFOparameter_manager_node-10process started with pid [7289] ×2 + 0.86sINFOwaypoint_manager_node-11process started with pid [7290] ×2 + 0.87sINFOmove_joint_resampler_node-12process started with pid [7291] ×2 + 0.87sINFOmove_end_effector_resampler_node-13process started with pid [7292] ×2 + 0.87sINFOobjective_server_node_main-14process started with pid [7293] ×2 + 0.87sINFOcomponent_container_mt-15process started with pid [7294] ×2 + 0.87sINFOcomponent_container_mt-16process started with pid [7295] ×2 + 0.87sINFOexecute_objective_bridge-17process started with pid [7296] ×2 + 0.87sINFOui_teleop_bridge-18process started with pid [7297] ×2 + 0.87sINFOweb_bridge-19process started with pid [7300] ×2 + 0.87sINFOtf2_web_republisher_node-20process started with pid [7377] ×2 + 0.87sINFOvideo_server-21process started with pid [7378] ×2 + 0.87sINFOweb_bridge_auth_proxy-22process started with pid [7379] ×2 + 0.87sINFOweb_video_auth_proxy-23process started with pid [7380] ×2 + 0.87sINFOros2-2process started with pid [7248] ×2 + 0.87sINFOros2-3process started with pid [7249] ×2 + 0.87sINFOros2-4process started with pid [7261] ×2 + 0.87sINFOros2-5process started with pid [7262] ×2 + 0.87sINFOros2-6process started with pid [7263] ×2 + 0.87sINFOros2-7process started with pid [7264] ×2 + 0.87sINFOros2-8process started with pid [7265] ×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 3.940567 ms (missed cycles : 3).[0m ×2 + 0.90sINFOcontroller_managerReceived robot description from topic. + 0.90sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.91sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 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 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF configuration loaded from /tmp/moveit-webrtc-r7g2yulg/mediamtx.yml ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.20sINFOvideo_server2026/09/08 23:46:56 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.34sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.46sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.46sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.83sINFOmove_group[2026-09-08 23:46:57.007] [moveit_pro_license] [info] ×2 + 1.83sINFOmove_group************************************************* ×4 + 1.83sINFOmove_group* MoveIt Pro License ×2 + 1.83sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.93sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.93sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.93sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.93sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.95sINFOros2_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 + 1.95sINFOros2_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 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987695 ms (missed cycles : 4). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987695 ms (missed cycles : 4).[0m ×2 + 2.11sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.12sINFOwaypoint_manager_node[2026-09-08 23:46:57.298] [moveit_pro_license] [info] ×2 + 2.12sINFOwaypoint_manager_node************************************************* ×4 + 2.12sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.12sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.17sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.19sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.22sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.34sINFOmove_group ×4 + 2.34sINFOmove_group[92mYou can start planning now![0m ×2 + 3.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.30sINFOobjective_server_node[2026-09-08 23:46:58.474] [moveit_pro_license] [info] ×2 + 3.30sINFOobjective_server_node************************************************* ×4 + 3.30sINFOobjective_server_node* MoveIt Pro License ×2 + 3.30sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.41sINFOobjective_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 + 3.41sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.42sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.60sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.60sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 7262] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-3process has finished cleanly [pid 7249] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 0.97sINFOros2-7process has finished cleanly [pid 7264] ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.33sINFOros2-4process has finished cleanly [pid 7261] ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7265] ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 2.68sWARNros2_control_nodeCamera render tick took 1.77 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 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 7262] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-3process has finished cleanly [pid 7249] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 0.97sINFOros2-7process has finished cleanly [pid 7264] ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.33sINFOros2-4process has finished cleanly [pid 7261] ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7265] ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 2.68sWARNros2_control_nodeCamera render tick took 1.77 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 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 519 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 7262] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.24sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.48sINFOros2-3process has finished cleanly [pid 7249] ×2 + 0.52sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.52sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.55sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 0.58sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.96sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.96sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.96sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.96sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.96sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 0.97sINFOros2-7process has finished cleanly [pid 7264] ×2 + 0.97sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.97sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.97sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.97sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.97sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.97sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.97sINFOobjective_server_nodecaller: ×14 + 0.97sINFOobjective_server_nodetype: 0 ×14 + 0.97sINFOobjective_server_nodename: "" ×14 + 0.97sINFOobjective_server_nodeinstance_id: "" ×14 + 0.97sINFOobjective_server_node ×14 + 0.97sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 1.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 1.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 1.33sINFOros2-4process has finished cleanly [pid 7261] ×2 + 1.36sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.57sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.74sINFOros2-8process has finished cleanly [pid 7265] ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 2.68sWARNros2_control_nodeCamera render tick took 1.77 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 + 2.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 3.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.30sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 4.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.07sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 4.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 4.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.46sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.53sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.53sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 6.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.09sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.16sINFOobjective_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 + 6.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.26sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 6.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 6.28sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 460 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.03sINFOros2-3process has finished cleanly [pid 7249] ×2 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.10sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.12sINFOros2_control_node[2026-09-08 23:47:01.096] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-08 23:47:01.097] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.33sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.46sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.50sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.50sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748022 ms (missed cycles : 2).[0m ×2 + 0.51sINFOros2-7process has finished cleanly [pid 7264] ×2 + 0.51sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.51sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.51sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.51sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.51sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.51sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.51sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.51sINFOobjective_server_nodecaller: ×14 + 0.51sINFOobjective_server_nodetype: 0 ×14 + 0.51sINFOobjective_server_nodename: "" ×14 + 0.51sINFOobjective_server_nodeinstance_id: "" ×14 + 0.51sINFOobjective_server_node ×14 + 0.52sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.52sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788911221.54128361 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788911221.55150962 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.60sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.87sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.87sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.87sINFOros2-4process has finished cleanly [pid 7261] ×2 + 0.90sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.90sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.94sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 0.94sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×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 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.29sINFOros2-8process has finished cleanly [pid 7265] ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 2.22sWARNros2_control_nodeCamera render tick took 1.77 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 + 2.27sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.89sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 3.55sINFOobjective_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: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 3.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 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: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[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: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.06sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_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: 1788911226.06063485 seconds ×3 + 5.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.63sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.69sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 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 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 22 warnings · 356 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5v8y3l53 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_etd4dfub --params-file /tmp/launch_params_iaws4h4u [0m ×2 + 0.07sINFOros2-4process has finished cleanly [pid 7261] ×2 + 0.10sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.10sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-09-08 23:47:01.907] [info] Controller state will be published at 20 Hz. ×2 + 0.13sINFOros2_control_node[2026-09-08 23:47:01.908] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.31sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.31sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.31sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.31sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.31sINFOobjective_server_nodecaller: ×12 + 0.31sINFOobjective_server_nodetype: 0 ×12 + 0.31sINFOobjective_server_nodename: "" ×12 + 0.31sINFOobjective_server_nodeinstance_id: "" ×12 + 0.31sINFOobjective_server_node ×12 + 0.36sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788911222.13623381 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.48sINFOros2-8process has finished cleanly [pid 7265] ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 1.42sWARNros2_control_nodeCamera render tick took 1.77 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 + 1.47sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 1.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 2.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.08sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 3.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.01sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 5.01sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [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 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.335174 ms (missed cycles : 5).[0m ×2 + 0.70sWARNros2_control_nodeCamera render tick took 1.77 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 + 0.75sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788911223.24639177 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183537 ms (missed cycles : 4).[0m ×2 + 1.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.32sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 1.32sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.32sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 1.32sINFOobjective_server_nodeparameter_overrides: [] ×10 + 1.32sINFOobjective_server_nodecaller: ×10 + 1.32sINFOobjective_server_nodetype: 0 ×10 + 1.32sINFOobjective_server_nodename: "" ×10 + 1.32sINFOobjective_server_nodeinstance_id: "" ×10 + 1.32sINFOobjective_server_node ×10 + 1.37sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788911223.86007428 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.37sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.37sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.43sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788911223.92027831 seconds ×3 + 2.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.03sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788911224.58332515 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788911224.60345197 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042265 ms (missed cycles : 4).[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.65sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788911225.18986154 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788911225.34041929 seconds ×3 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.757214 ms (missed cycles : 7).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.53sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788911226.02050471 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.56sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.56sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788911226.06063485 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.17sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788911226.66384816 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.3401e-05 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-09-08 23:47:06.790] [info] Accepted new action goal ×2 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.446900 ms (missed cycles : 6).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086222 ms (missed cycles : 4).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222055 ms (missed cycles : 5).[0m ×2 + 6.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.74sINFOros2_control_nodeMuJoCo sim: 0.12% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Received new action goal ×2 + 6.82sINFOros2_control_node[2026-09-08 23:47:09.308] [info] Accepted new action goal ×2 | ||||