124
Total objective tests
32
Objectives passed
0
Objectives failed
92
Objectives skipped
8.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives28 pass57 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.5s | 166 warnings · 18168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663938 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663938 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.177459 ms (missed cycles : 7). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.177459 ms (missed cycles : 7).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918271 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918271 ms (missed cycles : 5).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788913576.10088730 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOobjective_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: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788913576.76521468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.45sINFOros2_control_node[2026-09-09 00:26:16.939] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-09 00:26:16.939] [info] Accepted new action goal ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028077 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028077 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_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 + 4.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478233 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478233 ms (missed cycles : 2).[0m ×2 + 7.04sINFOjoint_trajectory_controllerReceived new action goal ×2984 + 7.04sINFOjoint_trajectory_controllerAccepted new action goal ×2984 + 7.04sINFOros2_control_nodeReceived new action goal[0m ×5968 + 7.04sINFOros2_control_nodeAccepted new action goal[0m ×5968 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117346 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117346 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749849 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749849 ms (missed cycles : 2).[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959833 ms (missed cycles : 2). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959833 ms (missed cycles : 2).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105563 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105563 ms (missed cycles : 2).[0m ×2 + 11.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.49 s); wrist_camera (1.49 s). The render path has stopped producing new frames for them.[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745005 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745005 ms (missed cycles : 2).[0m ×2 + 11.79sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.79sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.79sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 11.79sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452128 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.452128 ms (missed cycles : 2).[0m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029641 ms (missed cycles : 2). + 13.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029641 ms (missed cycles : 2).[0m ×2 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746312 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746312 ms (missed cycles : 2).[0m ×2 + 15.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751595 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751595 ms (missed cycles : 2).[0m ×2 + 16.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795788 ms (missed cycles : 2). + 16.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795788 ms (missed cycles : 2).[0m ×2 + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797944 ms (missed cycles : 2). + 17.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797944 ms (missed cycles : 2).[0m ×2 + 18.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386357 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386357 ms (missed cycles : 3).[0m ×2 + 19.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029940 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029940 ms (missed cycles : 2).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894339 ms (missed cycles : 2). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894339 ms (missed cycles : 2).[0m ×2 + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738568 ms (missed cycles : 2). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738568 ms (missed cycles : 2).[0m ×2 + 22.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748898 ms (missed cycles : 2). + 22.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748898 ms (missed cycles : 2).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012671 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012671 ms (missed cycles : 2).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707940 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707940 ms (missed cycles : 2).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680461 ms (missed cycles : 2). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680461 ms (missed cycles : 2).[0m ×2 + 26.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919453 ms (missed cycles : 3). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.919453 ms (missed cycles : 3).[0m ×2 + 27.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924309 ms (missed cycles : 2). + 27.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924309 ms (missed cycles : 2).[0m ×2 + 28.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697116 ms (missed cycles : 2). + 28.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697116 ms (missed cycles : 2).[0m ×2 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717985 ms (missed cycles : 2). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717985 ms (missed cycles : 2).[0m ×2 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378064 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378064 ms (missed cycles : 2).[0m ×2 + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709909 ms (missed cycles : 2). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709909 ms (missed cycles : 2).[0m ×2 + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802370 ms (missed cycles : 2). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802370 ms (missed cycles : 2).[0m ×2 + 33.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729695 ms (missed cycles : 2). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729695 ms (missed cycles : 2).[0m ×2 + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610026 ms (missed cycles : 3). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610026 ms (missed cycles : 3).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772488 ms (missed cycles : 2).[0m ×2 + 36.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904599 ms (missed cycles : 2). + 36.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904599 ms (missed cycles : 2).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699318 ms (missed cycles : 2). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699318 ms (missed cycles : 2).[0m ×2 + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770026 ms (missed cycles : 2). + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770026 ms (missed cycles : 2).[0m ×2 + 39.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740179 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740179 ms (missed cycles : 2).[0m ×2 + 40.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 40.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056533 ms (missed cycles : 2). + 40.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.056533 ms (missed cycles : 2).[0m ×2 + 41.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726352 ms (missed cycles : 2). + 41.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726352 ms (missed cycles : 2).[0m ×2 + 42.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873412 ms (missed cycles : 2). + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873412 ms (missed cycles : 2).[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675767 ms (missed cycles : 2). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675767 ms (missed cycles : 2).[0m ×2 + 44.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964633 ms (missed cycles : 2). + 44.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964633 ms (missed cycles : 2).[0m ×2 + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175968 ms (missed cycles : 2). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175968 ms (missed cycles : 2).[0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823654 ms (missed cycles : 2). + 46.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823654 ms (missed cycles : 2).[0m ×2 + 47.11sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913620.59863877 seconds ×3 + 47.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 47.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.29sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 47.65sINFOobjective_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: ""
+ 47.65sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.74sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788913621.23617649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768237 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768237 ms (missed cycles : 2).[0m ×2 + 47.90sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 47.92sINFOros2_control_node[2026-09-09 00:27:01.410] [info] Received new action goal ×2 + 47.92sINFOros2_control_node[2026-09-09 00:27:01.410] [info] Accepted new action goal ×2 + 48.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315276 ms (missed cycles : 3). + 48.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315276 ms (missed cycles : 3).[0m ×2 + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933790 ms (missed cycles : 2). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933790 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.1s | 157 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (5.97e-07 s). ×2 + 7.13sINFOros2_control_node[2026-09-09 00:25:25.146] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-09-09 00:25:25.146] [info] Accepted new action goal ×2 + 7.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×8 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476907 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476907 ms (missed cycles : 3).[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.393117 ms (missed cycles : 7). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.393117 ms (missed cycles : 7).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702897 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702897 ms (missed cycles : 2).[0m ×2 + 10.39sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.41sINFOros2_control_node[2026-09-09 00:25:28.426] [info] Received new action goal ×2 + 10.41sINFOros2_control_node[2026-09-09 00:25:28.426] [info] Accepted new action goal ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772830 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.772830 ms (missed cycles : 3).[0m ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.616623 ms (missed cycles : 7). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.616623 ms (missed cycles : 7).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692172 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692172 ms (missed cycles : 2).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 13.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.44sINFOros2_control_node[2026-09-09 00:25:31.460] [info] Received new action goal ×2 + 13.44sINFOros2_control_node[2026-09-09 00:25:31.460] [info] Accepted new action goal ×2 + 13.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710735 ms (missed cycles : 2). + 13.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710735 ms (missed cycles : 2).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190341 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190341 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897242 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.897242 ms (missed cycles : 3).[0m ×2 + 16.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.41sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.41sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903145 ms (missed cycles : 5). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903145 ms (missed cycles : 5).[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920768 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920768 ms (missed cycles : 2).[0m ×2 + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032351 ms (missed cycles : 2). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032351 ms (missed cycles : 2).[0m ×2 + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482166 ms (missed cycles : 2). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482166 ms (missed cycles : 2).[0m ×2 + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963609 ms (missed cycles : 5). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963609 ms (missed cycles : 5).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986788 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.986788 ms (missed cycles : 3).[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770377 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770377 ms (missed cycles : 2).[0m ×2 + 23.98sINFOobjective_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 + 23.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.99sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.99sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.99sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.99sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.960613 ms (missed cycles : 8). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.960613 ms (missed cycles : 8).[0m ×2 + 24.87sINFOros2_control_node[2026-09-09 00:25:42.885] [info] Received new action goal ×2 + 24.87sINFOros2_control_node[2026-09-09 00:25:42.885] [info] Accepted new action goal ×2 + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711961 ms (missed cycles : 2). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711961 ms (missed cycles : 2).[0m ×2 + 26.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.06sINFOobjective_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 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267233 ms (missed cycles : 2). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267233 ms (missed cycles : 2).[0m ×2 + 26.34sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 26.39sINFOros2_control_node[2026-09-09 00:25:44.409] [info] Received new action goal ×2 + 26.39sINFOros2_control_node[2026-09-09 00:25:44.409] [info] Accepted new action goal ×2 + 27.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726590 ms (missed cycles : 2). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726590 ms (missed cycles : 2).[0m ×2 + 28.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793138 ms (missed cycles : 2). + 28.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793138 ms (missed cycles : 2).[0m ×2 + 28.69sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 28.69sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.70sINFOros2_control_node[2026-09-09 00:25:46.716] [info] Received new action goal ×2 + 28.70sINFOros2_control_node[2026-09-09 00:25:46.716] [info] Accepted new action goal ×2 + 29.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086657 ms (missed cycles : 2). + 29.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086657 ms (missed cycles : 2).[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.223474 ms (missed cycles : 7). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.223474 ms (missed cycles : 7).[0m ×2 + 31.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 31.83sINFOros2_control_node[2026-09-09 00:25:49.846] [info] Received new action goal ×2 + 31.83sINFOros2_control_node[2026-09-09 00:25:49.846] [info] Accepted new action goal ×2 + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958861 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958861 ms (missed cycles : 2).[0m ×2 + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671646 ms (missed cycles : 2). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671646 ms (missed cycles : 2).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863419 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863419 ms (missed cycles : 2).[0m ×2 + 34.42sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 34.43sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.47sINFOros2_control_node[2026-09-09 00:25:52.489] [info] Received new action goal ×2 + 34.47sINFOros2_control_node[2026-09-09 00:25:52.489] [info] Accepted new action goal ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694497 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694497 ms (missed cycles : 2).[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740989 ms (missed cycles : 2). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740989 ms (missed cycles : 2).[0m ×2 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679864 ms (missed cycles : 2). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679864 ms (missed cycles : 2).[0m ×2 + 38.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.274909 ms (missed cycles : 7). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.274909 ms (missed cycles : 7).[0m ×2 + 39.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294370 ms (missed cycles : 2). + 39.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294370 ms (missed cycles : 2).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498666 ms (missed cycles : 4). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498666 ms (missed cycles : 4).[0m ×2 + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125486 ms (missed cycles : 2). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125486 ms (missed cycles : 2).[0m ×2 + 42.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918459 ms (missed cycles : 2). + 42.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918459 ms (missed cycles : 2).[0m ×2 + 42.76sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832748 ms (missed cycles : 2). + 43.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832748 ms (missed cycles : 2).[0m ×2 + 44.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949333 ms (missed cycles : 2). + 44.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949333 ms (missed cycles : 2).[0m ×2 + 45.15sINFOros2_control_node[2026-09-09 00:26:03.165] [info] Received new action goal ×2 + 45.15sINFOros2_control_node[2026-09-09 00:26:03.165] [info] Accepted new action goal ×2 + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762446 ms (missed cycles : 3). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762446 ms (missed cycles : 3).[0m ×2 + 46.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788913564.32181859 seconds ×3 + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173918 ms (missed cycles : 4). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173918 ms (missed cycles : 4).[0m ×2 + 46.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 46.88sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.08sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788913565.10072064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300750 ms (missed cycles : 3). + 48.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300750 ms (missed cycles : 3).[0m ×2 + 48.30sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 48.32sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.34sINFOros2_control_node[2026-09-09 00:26:06.355] [info] Received new action goal ×2 + 48.34sINFOros2_control_node[2026-09-09 00:26:06.355] [info] Accepted new action goal ×2 + 49.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705308 ms (missed cycles : 4). + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705308 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 94 warnings · 12984 info |
+ 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675767 ms (missed cycles : 2).[0m ×2 + 0.01sINFOjoint_trajectory_controllerReceived new action goal ×2131 + 0.01sINFOjoint_trajectory_controllerAccepted new action goal ×2131 + 0.01sINFOros2_control_nodeReceived new action goal[0m ×4262 + 0.01sINFOros2_control_nodeAccepted new action goal[0m ×4262 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964633 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964633 ms (missed cycles : 2).[0m ×2 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175968 ms (missed cycles : 2). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175968 ms (missed cycles : 2).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823654 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823654 ms (missed cycles : 2).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913620.59863877 seconds ×3 + 3.29sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.29sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.29sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.29sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.47sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.84sINFOobjective_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: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.84sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.84sINFOobjective_server_nodecaller: ×4 + 3.84sINFOobjective_server_nodetype: 0 ×4 + 3.84sINFOobjective_server_nodename: "" ×4 + 3.84sINFOobjective_server_nodeinstance_id: "" ×4 + 3.84sINFOobjective_server_node ×4 + 3.93sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788913621.23617649 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768237 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768237 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.10sINFOros2_control_node[2026-09-09 00:27:01.410] [info] Received new action goal ×2 + 4.10sINFOros2_control_node[2026-09-09 00:27:01.410] [info] Accepted new action goal ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315276 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.315276 ms (missed cycles : 3).[0m ×2 + 5.35sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.41sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.42sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933790 ms (missed cycles : 2). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.933790 ms (missed cycles : 2).[0m ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923124 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923124 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028102 ms (missed cycles : 5). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.028102 ms (missed cycles : 5).[0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703672 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703672 ms (missed cycles : 2).[0m ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674268 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674268 ms (missed cycles : 2).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448803 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448803 ms (missed cycles : 2).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949660 ms (missed cycles : 2). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949660 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923906 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923906 ms (missed cycles : 2).[0m ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807572 ms (missed cycles : 2). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807572 ms (missed cycles : 2).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695022 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695022 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867552 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867552 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768012 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768012 ms (missed cycles : 2).[0m ×2 + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035342 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035342 ms (missed cycles : 2).[0m ×2 + 18.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425636 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425636 ms (missed cycles : 2).[0m ×2 + 20.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916549 ms (missed cycles : 2). + 20.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916549 ms (missed cycles : 2).[0m ×2 + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111872 ms (missed cycles : 2). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111872 ms (missed cycles : 2).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 24.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 25.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 25.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 26.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 26.03sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.32sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 26.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.34sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 26.34sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 26.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 26.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 27.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 28.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 28.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 63 warnings · 230 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732025 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732025 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086083 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086083 ms (missed cycles : 8).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.33sINFOobjective_server_nodeFound path in 1 iterations (0.00308597 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.57sINFOros2_control_node[2026-09-09 00:25:02.907] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-09-09 00:25:02.907] [info] Accepted new action goal ×2 + 1.97sINFOros2_control_node[2026-09-09 00:25:03.311] [info] Received new action goal ×2 + 1.97sINFOros2_control_node[2026-09-09 00:25:03.311] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959100 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959100 ms (missed cycles : 6).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776776 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776776 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.27sERRORobjective_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: 1788913504.60613871 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.86sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.86sINFOobjective_server_nodecaller: ×6 + 3.86sINFOobjective_server_nodetype: 0 ×6 + 3.86sINFOobjective_server_nodename: "" ×6 + 3.86sINFOobjective_server_nodeinstance_id: "" ×6 + 3.86sINFOobjective_server_node ×6 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788913505.32616162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-09-09 00:25:05.500] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-09 00:25:05.500] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249008 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249008 ms (missed cycles : 4).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733227 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733227 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158804 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158804 ms (missed cycles : 4).[0m ×2 + 6.70sINFOros2_control_node[2026-09-09 00:25:08.044] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-09-09 00:25:08.045] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224980 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224980 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678877 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678877 ms (missed cycles : 2).[0m ×2 + 9.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838411 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838411 ms (missed cycles : 2).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101899 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101899 ms (missed cycles : 2).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399596 ms (missed cycles : 2). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399596 ms (missed cycles : 2).[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678301 ms (missed cycles : 2). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678301 ms (missed cycles : 2).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3).[0m ×2 + 14.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2).[0m ×2 + 15.27sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788913516.61214471 seconds ×3 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2).[0m ×2 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.82sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.87sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788913517.21207118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.94sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788913517.28220582 seconds ×3 + 16.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.68sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.74sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 16.87sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 16.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.89sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 16.89sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 17.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 18.89sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 61 errors · 42 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_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 + 0.22sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 0.22sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 0.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913698.60891414 seconds ×3 + 0.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.79sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.79sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.79sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.79sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.79sINFOobjective_server_nodecaller: ×8 + 0.79sINFOobjective_server_nodetype: 0 ×8 + 0.79sINFOobjective_server_nodename: "" ×8 + 0.79sINFOobjective_server_nodeinstance_id: "" ×8 + 0.79sINFOobjective_server_node ×8 + 0.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 1.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 2.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.02sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.07sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.07sINFOobjective_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 + 2.08sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.08sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.62sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2).[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039247 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039247 ms (missed cycles : 2).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788913703.60634422 seconds ×3 + 5.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042405 ms (missed cycles : 5). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042405 ms (missed cycles : 5).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490834 ms (missed cycles : 6). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.490834 ms (missed cycles : 6).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814744 ms (missed cycles : 4). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814744 ms (missed cycles : 4).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791278 ms (missed cycles : 2).[0m ×2 + 10.67sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.69sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sERRORweb_video_auth_proxy-23process has died [pid 7374, 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 + 10.69sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.69sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.70sERRORweb_bridge_auth_proxy-22process has died [pid 7373, 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 + 10.70sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.70sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.70sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.71sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.71sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.72sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438129 ms (missed cycles : 3). + 10.73sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.73sINFOvideo_server-21process has finished cleanly [pid 7371] ×2 + 10.73sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.74sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.74sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.75sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.75sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.76sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.76sINFOcontroller_managerShutdown request received.... + 10.76sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.76sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.76sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.76sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.76sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.76sINFOvideo_server2026/09/09 00:28:29 INF shutting down gracefully ×2 + 10.76sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.76sINFOvideo_server2026/09/09 00:28:29 INF [WebRTC] closing ×2 + 10.76sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.76sINFOvideo_server2026/09/09 00:28:29 INF [RTSP] closing ×2 + 10.76sINFOvideo_server2026/09/09 00:28:29 INF waiting for running hooks ×2 + 10.76sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.76sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.76sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.76sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.76sINFOcontroller_managerShutting down the controller manager. + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438129 ms (missed cycles : 3).[0m ×2 + 10.76sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.76sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.76sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.76sERRORmove_groupStack trace (most recent call last) in thread 7716: ×2 + 10.77sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.77sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.77sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.77sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a27961a63, in __clone ×2 + 10.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a278d4aa3, in ×2 + 10.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a27b66db3, in ×2 + 10.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f1a282cba94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a27ef8620, in rclcpp::Rate::sleep() ×2 + 10.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a27e3ad18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a27dfc087, in ×2 + 10.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a27b35390, in __cxa_throw ×2 + 10.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a27b1fa54, in std::terminate() ×2 + 10.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a27b350d9, in ×2 + 10.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a27b1fff4, in ×2 + 10.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a278608fe, in abort ×2 + 10.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a2787d27d, in raise ×2 + 10.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a278d6b2c, in pthread_kill ×2 + 10.77sERRORmove_groupAborted (Signal sent by tkill() 7290 0) ×2 + 10.78sERRORmove_group-9process has died [pid 7290, 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_0mntceeu --params-file /tmp/launch_params_oxedqj9b --params-file /tmp/launch_params_msdi_kxv --params-file /tmp/launch_params_yx88q6fz --params-file /tmp/launch_params_3m_h9af0 --params-file /tmp/launch_params_32a5itzk']. ×2 + 10.93sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.93sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 11.76sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7368] ×2 + 11.76sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.78sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7294] ×2 + 11.78sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7293] ×2 + 11.82sINFOparameter_manager_node-10process has finished cleanly [pid 7291] ×2 + 11.83sINFOwaypoint_manager_node-11process has finished cleanly [pid 7292] ×2 + 11.83sINFOcomponent_container_mt-16process has finished cleanly [pid 7297] ×2 + 11.83sINFOui_teleop_bridge-18process has finished cleanly [pid 7299] ×2 + 11.85sINFOexecute_objective_bridge-17process has finished cleanly [pid 7298] ×2 + 11.87sINFOobjective_server_node[0;m[2026-09-09 00:28:30.255] [moveit_pro_license] [critical] ×2 + 11.87sINFOobjective_server_node************************************************* ×4 + 11.88sINFOobjective_server_node* MoveIt Pro License ×2 + 11.88sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.01sINFOobjective_server_node_main-14process has finished cleanly [pid 7295] ×2 + 12.02sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.89sINFOweb_bridge-19process has finished cleanly [pid 7300] ×2 + 12.89sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.93sINFOcomponent_container_mt-15process has finished cleanly [pid 7296] ×2 + 13.37sINFOros2_control_node-1process has finished cleanly [pid 7239] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 59 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832748 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_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 + 0.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.60sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.60sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.60sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.60sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.60sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.60sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.60sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949333 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949333 ms (missed cycles : 2).[0m ×2 + 1.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.48sINFOros2_control_node[2026-09-09 00:26:03.165] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-09-09 00:26:03.165] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762446 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762446 ms (missed cycles : 3).[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788913564.32181859 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173918 ms (missed cycles : 4). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173918 ms (missed cycles : 4).[0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.22sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.22sINFOobjective_server_nodecaller: ×4 + 3.22sINFOobjective_server_nodetype: 0 ×4 + 3.22sINFOobjective_server_nodename: "" ×4 + 3.22sINFOobjective_server_nodeinstance_id: "" ×4 + 3.22sINFOobjective_server_node ×4 + 3.41sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788913565.10072064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300750 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300750 ms (missed cycles : 3).[0m ×2 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.67sINFOros2_control_node[2026-09-09 00:26:06.355] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-09-09 00:26:06.355] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705308 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705308 ms (missed cycles : 4).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309141 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309141 ms (missed cycles : 3).[0m ×2 + 6.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770961 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770961 ms (missed cycles : 2).[0m ×2 + 8.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.37sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.37sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.37sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949159 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949159 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081887 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081887 ms (missed cycles : 3).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990123 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990123 ms (missed cycles : 2).[0m ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 10.80sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.81sINFOros2_control_node[2026-09-09 00:26:12.495] [info] Received new action goal ×2 + 10.81sINFOros2_control_node[2026-09-09 00:26:12.495] [info] Accepted new action goal ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663938 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663938 ms (missed cycles : 2).[0m ×2 + 11.88sWARNros2_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 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.177459 ms (missed cycles : 7). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.177459 ms (missed cycles : 7).[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918271 ms (missed cycles : 5). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918271 ms (missed cycles : 5).[0m ×2 + 14.42sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788913576.10088730 seconds ×3 + 15.02sINFOobjective_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: ""
+ 15.02sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788913576.76521468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 15.24sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.25sINFOros2_control_node[2026-09-09 00:26:16.939] [info] Received new action goal ×2 + 15.25sINFOros2_control_node[2026-09-09 00:26:16.939] [info] Accepted new action goal ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028077 ms (missed cycles : 5). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028077 ms (missed cycles : 5).[0m ×2 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2).[0m ×2 + 16.52sINFOobjective_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 + 16.53sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 60 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.44sERRORobjective_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: 1788913686.10221314 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.07sINFOobjective_server_nodecaller: ×14 + 2.07sINFOobjective_server_nodetype: 0 ×14 + 2.07sINFOobjective_server_nodename: "" ×14 + 2.07sINFOobjective_server_nodeinstance_id: "" ×14 + 2.07sINFOobjective_server_node ×14 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 2.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152523 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152523 ms (missed cycles : 2).[0m ×2 + 6.95sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.96sINFOros2_control_node[2026-09-09 00:28:11.618] [info] Received new action goal ×2 + 6.96sINFOros2_control_node[2026-09-09 00:28:11.618] [info] Accepted new action goal ×2 + 6.96sINFOros2_control_node[2026-09-09 00:28:11.618] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062107 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062107 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709683 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709683 ms (missed cycles : 2).[0m ×2 + 8.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674190 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674190 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2).[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3).[0m ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 13.94sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 13.94sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 13.95sERRORobjective_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: 1788913698.60891414 seconds ×3 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.52sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 14.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 15.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 15.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.74sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.80sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.80sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.80sINFOobjective_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 + 15.80sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.80sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 16.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.34sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[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 + 16.99sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 203 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589585 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589585 ms (missed cycles : 3).[0m ×2 + 1.06sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766596 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766596 ms (missed cycles : 5).[0m ×2 + 1.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.32sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.33sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788913491.92522025 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723763 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723763 ms (missed cycles : 2).[0m ×2 + 3.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.03sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720986 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720986 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.57sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.57sINFOobjective_server_nodecaller: ×4 + 3.57sINFOobjective_server_nodetype: 0 ×4 + 3.57sINFOobjective_server_nodename: "" ×4 + 3.57sINFOobjective_server_nodeinstance_id: "" ×4 + 3.57sINFOobjective_server_node ×4 + 3.66sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788913494.22958374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 3.85sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.87sINFOros2_control_node[2026-09-09 00:24:54.433] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 00:24:54.433] [info] Accepted new action goal ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898010 ms (missed cycles : 5). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898010 ms (missed cycles : 5).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112613 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112613 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538881 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538881 ms (missed cycles : 2).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075451 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075451 ms (missed cycles : 2).[0m ×2 + 8.14sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.14sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.14sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (3.54e-07 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.64sINFOobjective_server_nodeFound path in 1 iterations (0.00336342 s). ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027866 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027866 ms (missed cycles : 2).[0m ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 2 iterations (0.00510174 s). ×2 + 8.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 1 iterations (0.00366454 s). ×2 + 9.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.44sINFOros2_control_node[2026-09-09 00:25:00.007] [info] Received new action goal ×2 + 9.44sINFOros2_control_node[2026-09-09 00:25:00.007] [info] Accepted new action goal ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826748 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826748 ms (missed cycles : 2).[0m ×2 + 10.21sINFOros2_control_nodeMuJoCo sim: 0.60% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732025 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732025 ms (missed cycles : 2).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086083 ms (missed cycles : 8). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086083 ms (missed cycles : 8).[0m ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 12.10sINFOobjective_server_nodeFound path in 1 iterations (0.00308597 s). ×2 + 12.28sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 12.34sINFOros2_control_node[2026-09-09 00:25:02.907] [info] Received new action goal ×2 + 12.34sINFOros2_control_node[2026-09-09 00:25:02.907] [info] Accepted new action goal ×2 + 12.74sINFOros2_control_node[2026-09-09 00:25:03.311] [info] Received new action goal ×2 + 12.74sINFOros2_control_node[2026-09-09 00:25:03.311] [info] Accepted new action goal ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959100 ms (missed cycles : 6). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959100 ms (missed cycles : 6).[0m ×2 + 13.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776776 ms (missed cycles : 2). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776776 ms (missed cycles : 2).[0m ×2 + 14.03sINFOobjective_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 + 14.04sERRORobjective_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: 1788913504.60613871 seconds ×3 + 14.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.63sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.76sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788913505.32616162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.93sINFOros2_control_node[2026-09-09 00:25:05.500] [info] Received new action goal ×2 + 14.93sINFOros2_control_node[2026-09-09 00:25:05.500] [info] Accepted new action goal ×2 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249008 ms (missed cycles : 4). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249008 ms (missed cycles : 4).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733227 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733227 ms (missed cycles : 2).[0m ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158804 ms (missed cycles : 4). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158804 ms (missed cycles : 4).[0m ×2 + 17.48sINFOros2_control_node[2026-09-09 00:25:08.044] [info] Received new action goal ×2 + 17.48sINFOros2_control_node[2026-09-09 00:25:08.045] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 56 warnings · 257 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×6 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547590 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547590 ms (missed cycles : 4).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813110 ms (missed cycles : 5). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813110 ms (missed cycles : 5).[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259949 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259949 ms (missed cycles : 4).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788913675.11520123 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.25sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.25sINFOobjective_server_nodecaller: ×8 + 3.25sINFOobjective_server_nodetype: 0 ×8 + 3.25sINFOobjective_server_nodename: "" ×8 + 3.25sINFOobjective_server_nodeinstance_id: "" ×8 + 3.25sINFOobjective_server_node ×8 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788913675.73177648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-09 00:27:55.856] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-09 00:27:55.856] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949141 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949141 ms (missed cycles : 5).[0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468756 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468756 ms (missed cycles : 4).[0m ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879795 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879795 ms (missed cycles : 2).[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417481 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.417481 ms (missed cycles : 3).[0m ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836517 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.836517 ms (missed cycles : 2).[0m ×2 + 8.37sINFOros2_control_nodeMuJoCo sim: 0.77% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676391 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676391 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592338 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.592338 ms (missed cycles : 3).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 13.68sINFOobjective_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 + 13.69sERRORobjective_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: 1788913686.10221314 seconds ×3 + 14.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 14.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 14.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.98sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sINFOobjective_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 + 15.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 15.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.72sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.78sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.89sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 15.89sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.89sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 57 warnings · 222 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.31sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.31sINFOobjective_server_nodecaller: ×6 + 2.31sINFOobjective_server_nodetype: 0 ×6 + 2.31sINFOobjective_server_nodename: "" ×6 + 2.31sINFOobjective_server_nodeinstance_id: "" ×6 + 2.31sINFOobjective_server_node ×6 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542362 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542362 ms (missed cycles : 2).[0m ×2 + 6.57sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 6.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.59sINFOros2_control_node[2026-09-09 00:24:35.817] [info] Received new action goal ×2 + 6.59sINFOros2_control_node[2026-09-09 00:24:35.817] [info] Accepted new action goal ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171796 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171796 ms (missed cycles : 3).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098965 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098965 ms (missed cycles : 3).[0m ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 8.93sINFOros2_control_node[2026-09-09 00:24:38.153] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-09-09 00:24:38.153] [info] Accepted new action goal ×2 + 9.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009987 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009987 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 11.27sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 11.29sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 11.29sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 13.47sINFOobjective_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 + 13.47sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 13.47sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 13.48sERRORobjective_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: 1788913482.70476604 seconds ×3 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 14.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.05sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.11sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 14.33sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.35sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 54 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.37sINFOobjective_server_nodecaller: ×4 + 3.37sINFOobjective_server_nodetype: 0 ×4 + 3.37sINFOobjective_server_nodename: "" ×4 + 3.37sINFOobjective_server_nodeinstance_id: "" ×4 + 3.37sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356856 ms (missed cycles : 4). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.356856 ms (missed cycles : 4).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683120 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683120 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674599 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674599 ms (missed cycles : 2).[0m ×2 + 9.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856721 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856721 ms (missed cycles : 2).[0m ×2 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007858 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007858 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526939 ms (missed cycles : 2). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526939 ms (missed cycles : 2).[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522273 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522273 ms (missed cycles : 3).[0m ×2 + 13.79sERRORobjective_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: 1788913664.60159683 seconds ×3 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539360 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539360 ms (missed cycles : 3).[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788913665.20087337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.67sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 14.68sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.69sINFOros2_control_node[2026-09-09 00:27:45.504] [info] Received new action goal ×2 + 14.69sINFOros2_control_node[2026-09-09 00:27:45.504] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703361 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703361 ms (missed cycles : 2).[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106080 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106080 ms (missed cycles : 2).[0m ×2 + 16.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 10.9s | 6 errors · 57 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340982 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340982 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758327 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758327 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891553 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891553 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.36sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 2.37sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.39sINFOros2_control_node[2026-09-09 00:24:08.228] [info] Received new action goal ×2 + 2.39sINFOros2_control_node[2026-09-09 00:24:08.228] [info] Accepted new action goal ×2 + 2.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.86sINFOros2_control_node[2026-09-09 00:24:08.703] [info] Got request to cancel active goal. ×2 + 2.86sINFOros2_control_node[2026-09-09 00:24:08.703] [info] Canceling active goal... ×2 + 2.88sERRORobjective_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: 1788913448.71988487 seconds ×3 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348739 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348739 ms (missed cycles : 3).[0m ×2 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 3.49sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.49sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.49sINFOobjective_server_nodecaller: ×6 + 3.49sINFOobjective_server_nodetype: 0 ×6 + 3.49sINFOobjective_server_nodename: "" ×6 + 3.49sINFOobjective_server_nodeinstance_id: "" ×6 + 3.49sINFOobjective_server_node ×6 + 3.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788913449.40211892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 3.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.79sINFOros2_control_node[2026-09-09 00:24:09.626] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 00:24:09.626] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655795 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655795 ms (missed cycles : 2).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114941 ms (missed cycles : 4). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114941 ms (missed cycles : 4).[0m ×2 + 5.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.06sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 6.07sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 6.08sINFOros2_control_node[2026-09-09 00:24:11.916] [info] Received new action goal ×2 + 6.08sINFOros2_control_node[2026-09-09 00:24:11.916] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090391 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090391 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030639 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.030639 ms (missed cycles : 5).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833233 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.833233 ms (missed cycles : 5).[0m ×2 + 8.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911362 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911362 ms (missed cycles : 3).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6).[0m ×2 + 11.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 11.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 11.66sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 11.97sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 11.99sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 12.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.11sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 12.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 12.35sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 12.35sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 13.76sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 13.76sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 13.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place with AprilTags` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913459.63388681 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.34sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 14.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 14.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.11sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 15.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.38sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 15.38sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 426 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.56sINFOobjective_server_nodecaller: ×12 + 0.56sINFOobjective_server_nodetype: 0 ×12 + 0.56sINFOobjective_server_nodename: "" ×12 + 0.56sINFOobjective_server_nodeinstance_id: "" ×12 + 0.56sINFOobjective_server_node ×12 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.07sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.09sINFOros2_control_node[2026-09-09 00:24:01.078] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-09-09 00:24:01.078] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803664 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803664 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.635722 ms (missed cycles : 6). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.635722 ms (missed cycles : 6).[0m ×2 + 7.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756257 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756257 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877401 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877401 ms (missed cycles : 3).[0m ×2 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 9.89sINFOros2_control_node[2026-09-09 00:24:04.878] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-09-09 00:24:04.878] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340982 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340982 ms (missed cycles : 2).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758327 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758327 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891553 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891553 ms (missed cycles : 2).[0m ×2 + 13.22sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.24sINFOros2_control_node[2026-09-09 00:24:08.228] [info] Received new action goal ×2 + 13.24sINFOros2_control_node[2026-09-09 00:24:08.228] [info] Accepted new action goal ×2 + 13.68sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 13.71sINFOobjective_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 + 13.72sINFOros2_control_node[2026-09-09 00:24:08.703] [info] Got request to cancel active goal. ×2 + 13.72sINFOros2_control_node[2026-09-09 00:24:08.703] [info] Canceling active goal... ×2 + 13.73sERRORobjective_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: 1788913448.71988487 seconds ×3 + 13.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348739 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348739 ms (missed cycles : 3).[0m ×2 + 14.35sINFOobjective_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: ""
+ 14.35sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.42sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788913449.40211892 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.62sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 14.64sINFOros2_control_node[2026-09-09 00:24:09.626] [info] Received new action goal ×2 + 14.64sINFOros2_control_node[2026-09-09 00:24:09.626] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655795 ms (missed cycles : 2). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655795 ms (missed cycles : 2).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114941 ms (missed cycles : 4). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114941 ms (missed cycles : 4).[0m ×2 + 16.92sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 16.92sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 16.93sINFOros2_control_node[2026-09-09 00:24:11.916] [info] Received new action goal ×2 + 16.93sINFOros2_control_node[2026-09-09 00:24:11.916] [info] Accepted new action goal ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090391 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090391 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 58 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.47sINFOobjective_server_nodecaller: ×4 + 3.47sINFOobjective_server_nodetype: 0 ×4 + 3.47sINFOobjective_server_nodename: "" ×4 + 3.47sINFOobjective_server_nodeinstance_id: "" ×4 + 3.47sINFOobjective_server_node ×4 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677011 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677011 ms (missed cycles : 2).[0m ×2 + 8.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.11sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 8.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 8.41sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.42sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×4 + 8.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 1 iterations (0.00312991 s). ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868564 ms (missed cycles : 2). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868564 ms (missed cycles : 2).[0m ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 2 iterations (0.00775037 s). ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 1 iterations (0.00520225 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (3.66e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 9.55sINFOros2_control_node[2026-09-09 00:24:49.360] [info] Received new action goal ×2 + 9.55sINFOros2_control_node[2026-09-09 00:24:49.360] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.154295 ms (missed cycles : 6). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.154295 ms (missed cycles : 6).[0m ×2 + 10.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589585 ms (missed cycles : 3). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589585 ms (missed cycles : 3).[0m ×2 + 11.81sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766596 ms (missed cycles : 5). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766596 ms (missed cycles : 5).[0m ×2 + 12.08sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.08sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.08sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 12.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788913491.92522025 seconds ×3 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723763 ms (missed cycles : 2). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723763 ms (missed cycles : 2).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720986 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720986 ms (missed cycles : 2).[0m ×2 + 14.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.33sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.42sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788913494.22958374 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.61sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 14.62sINFOros2_control_node[2026-09-09 00:24:54.433] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-09 00:24:54.433] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898010 ms (missed cycles : 5). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.898010 ms (missed cycles : 5).[0m ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112613 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112613 ms (missed cycles : 2).[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538881 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538881 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 57 warnings · 2196 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.02sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.02sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.89sINFOobjective_server_nodecaller: ×4 + 3.89sINFOobjective_server_nodetype: 0 ×4 + 3.89sINFOobjective_server_nodename: "" ×4 + 3.89sINFOobjective_server_nodeinstance_id: "" ×4 + 3.89sINFOobjective_server_node ×4 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730471 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730471 ms (missed cycles : 2).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622943 ms (missed cycles : 3). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622943 ms (missed cycles : 3).[0m ×2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.42sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 1 iterations (0.00297693 s). ×2 + 8.99sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 9.04sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.06sINFOros2_control_node[2026-09-09 00:27:28.508] [info] Received new action goal ×2 + 9.06sINFOros2_control_node[2026-09-09 00:27:28.508] [info] Accepted new action goal ×2 + 9.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373427 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373427 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885759 ms (missed cycles : 5). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885759 ms (missed cycles : 5).[0m ×2 + 11.36sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 11.36sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 13.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.13sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 14.14sINFOobjective_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 + 14.15sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 14.15sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 14.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 14.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 14.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.74sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 15.02sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 15.02sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 16.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.6s | 3 errors · 57 warnings · 301 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 0.01sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 2.14sERRORobjective_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: 1788913459.63388681 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.69sINFOobjective_server_nodecaller: ×8 + 2.69sINFOobjective_server_nodetype: 0 ×8 + 2.69sINFOobjective_server_nodename: "" ×8 + 2.69sINFOobjective_server_nodeinstance_id: "" ×8 + 2.69sINFOobjective_server_node ×8 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794924 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794924 ms (missed cycles : 2).[0m ×2 + 7.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965882 ms (missed cycles : 4). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.965882 ms (missed cycles : 4).[0m ×2 + 7.79sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (2.61e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 1 iterations (0.00287356 s). ×2 + 8.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.13sINFOros2_control_node[2026-09-09 00:24:25.631] [info] Received new action goal ×2 + 8.14sINFOros2_control_node[2026-09-09 00:24:25.631] [info] Accepted new action goal ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448319 ms (missed cycles : 6). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.448319 ms (missed cycles : 6).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787506 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787506 ms (missed cycles : 2).[0m ×2 + 10.44sINFOros2_control_node[2026-09-09 00:24:27.933] [info] Received new action goal ×2 + 10.44sINFOros2_control_node[2026-09-09 00:24:27.933] [info] Accepted new action goal ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728442 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728442 ms (missed cycles : 2).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 12.19sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.20sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 12.20sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 13.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 14.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.04sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.18sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 14.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.77sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 14.82sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 14.93sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.94sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 14.95sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 14.95sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 129 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007858 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007858 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526939 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526939 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522273 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522273 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_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 + 2.85sERRORobjective_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: 1788913664.60159683 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539360 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539360 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.39sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.39sINFOobjective_server_nodecaller: ×4 + 3.39sINFOobjective_server_nodetype: 0 ×4 + 3.39sINFOobjective_server_nodename: "" ×4 + 3.39sINFOobjective_server_nodeinstance_id: "" ×4 + 3.39sINFOobjective_server_node ×4 + 3.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788913665.20087337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.76sINFOros2_control_node[2026-09-09 00:27:45.504] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-09 00:27:45.504] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703361 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703361 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106080 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106080 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668132 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668132 ms (missed cycles : 2).[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183346 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183346 ms (missed cycles : 2).[0m ×2 + 7.78sINFOros2_control_node[2026-09-09 00:27:49.530] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-09-09 00:27:49.530] [info] Accepted new action goal ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185854 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185854 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774747 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774747 ms (missed cycles : 2).[0m ×2 + 10.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547590 ms (missed cycles : 4). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547590 ms (missed cycles : 4).[0m ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813110 ms (missed cycles : 5). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813110 ms (missed cycles : 5).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259949 ms (missed cycles : 4). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259949 ms (missed cycles : 4).[0m ×2 + 13.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788913675.11520123 seconds ×3 + 13.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.91sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.98sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788913675.73177648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.09sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 14.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.11sINFOros2_control_node[2026-09-09 00:27:55.856] [info] Received new action goal ×2 + 14.11sINFOros2_control_node[2026-09-09 00:27:55.856] [info] Accepted new action goal ×2 + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949141 ms (missed cycles : 5). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949141 ms (missed cycles : 5).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468756 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468756 ms (missed cycles : 4).[0m ×2 + 15.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 16.01sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879795 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879795 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 4.0s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3).[0m ×2 + 0.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788913516.61214471 seconds ×3 + 1.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.66sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.20sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.20sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.20sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.20sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.20sINFOobjective_server_nodecaller: ×6 + 2.20sINFOobjective_server_nodetype: 0 ×6 + 2.20sINFOobjective_server_nodename: "" ×6 + 2.20sINFOobjective_server_nodeinstance_id: "" ×6 + 2.20sINFOobjective_server_node ×6 + 2.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788913517.21207118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.31sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788913517.28220582 seconds ×3 + 3.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.06sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.12sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 3.26sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.27sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 5.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 6.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.82sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.89sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.97sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 6.98sINFOobjective_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 (3.02e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.31sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 7.31sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 693 info |
+ 0.00sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.26sINFOcomponent_container_mt[2026-09-09 00:23:50.516] [moveit_pro_license] [info] ×2 + 0.26sINFOcomponent_container_mt************************************************* ×4 + 0.26sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.26sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.40sWARNobjective_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 + 0.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.49sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.49sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.49sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.49sWARNros2_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 + 0.49sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.49sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.49sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.49sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.49sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.49sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.49sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.49sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.49sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.49sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.49sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.49sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.49sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.50sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.50sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.50sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.50sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037047 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037047 ms (missed cycles : 2).[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.61sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.61sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.61sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.62sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.62sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.89sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.89sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.89sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.89sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.90sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.90sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.93sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.93sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.93sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.93sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.93sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.94sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.94sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.94sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.94sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.96sINFOros2-2process has finished cleanly [pid 7240] ×2 + 1.07sINFOros2_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 + 1.07sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.07sWARNros2_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 + 1.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.24sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.24sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.24sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 1.24sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 1.29sINFOros2-4process has finished cleanly [pid 7253] ×2 + 1.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.30sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.30sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.30sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.30sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.30sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.31sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.31sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.32sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.32sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591778 ms (missed cycles : 3). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591778 ms (missed cycles : 3).[0m ×2 + 1.60sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.60sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.60sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.60sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.67sINFOros2-5process has finished cleanly [pid 7254] ×2 + 1.75sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 1.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 1.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.83sINFOros2_control_node[2026-09-09 00:23:52.088] [info] Controller state will be published at 10 Hz. ×2 + 1.83sINFOros2_control_node[2026-09-09 00:23:52.089] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.07sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.07sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.07sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.07sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.07sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 2.07sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 2.08sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.08sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.12sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.12sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.12sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.12sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.12sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.12sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.13sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.13sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.14sINFOros2-7process has finished cleanly [pid 7256] ×2 + 2.18sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.29sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.33sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.33sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.42sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.42sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.42sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.47sINFOros2-3process has finished cleanly [pid 7241] ×2 + 2.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 2.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 2.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.56sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 2.56sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 2.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.90sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.90sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.90sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.94sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.94sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.94sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.94sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.94sINFOobjective_server_nodecaller: ×14 + 2.94sINFOobjective_server_nodetype: 0 ×14 + 2.94sINFOobjective_server_nodename: "" ×14 + 2.94sINFOobjective_server_nodeinstance_id: "" ×14 + 2.94sINFOobjective_server_node ×14 + 2.94sINFOros2-8process has finished cleanly [pid 7257] ×2 + 2.98sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 2.98sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 3.01sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.01sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.01sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.01sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.02sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.02sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.04sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.04sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.41sINFOros2-6process has finished cleanly [pid 7255] ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.62sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.73sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 4.85sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.29sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 6.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.01sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 6.06sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.08sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 6.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.62sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 7.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.47sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.54sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.54sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 8.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.11sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.18sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.19sINFOobjective_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 + 8.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.30sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.31sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 8.31sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 29 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1788913698.60891414 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.89sINFOobjective_server_nodecaller: ×8 + 3.89sINFOobjective_server_nodetype: 0 ×8 + 3.89sINFOobjective_server_nodename: "" ×8 + 3.89sINFOobjective_server_nodeinstance_id: "" ×8 + 3.89sINFOobjective_server_node ×8 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 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 3.101742 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.17sINFOobjective_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 + 5.17sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6).[0m ×2 + 0.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.92sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 1.37sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_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 + 3.03sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788913459.63388681 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:24:27.933] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:24:27.933] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728442 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728442 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 3.05sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 4.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.33sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.39sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.51sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[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 1.991656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_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 + 2.54sERRORobjective_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: 1788913686.10221314 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 511 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.088] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.089] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOros2-7process has finished cleanly [pid 7256] ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOros2-3process has finished cleanly [pid 7241] ×2 + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.15sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.19sINFOros2-8process has finished cleanly [pid 7257] ×2 + 1.22sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 1.22sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 1.26sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.66sINFOros2-6process has finished cleanly [pid 7255] ×2 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 3.10sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 4.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678301 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788913516.61214471 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788913517.21207118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788913517.28220582 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 6.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_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 + 2.54sERRORobjective_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: 1788913686.10221314 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 2.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 2.27sERRORobjective_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: 1788913698.60891414 seconds ×3 + 2.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.84sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.84sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.84sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.84sINFOobjective_server_nodecaller: ×8 + 2.84sINFOobjective_server_nodetype: 0 ×8 + 2.84sINFOobjective_server_nodename: "" ×8 + 2.84sINFOobjective_server_nodeinstance_id: "" ×8 + 2.84sINFOobjective_server_node ×8 + 2.89sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 3.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 4.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.06sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.12sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 4.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.66sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[0m ×2 + 5.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.26sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039247 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039247 ms (missed cycles : 2).[0m ×2 + 7.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788913703.60634422 seconds ×3 + 7.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 3.799287 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 1.23sINFOobjective_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 + 1.23sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 1.23sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 1.24sERRORobjective_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: 1788913698.60891414 seconds ×3 + 1.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.81sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.81sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.81sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.81sINFOobjective_server_nodecaller: ×8 + 1.81sINFOobjective_server_nodetype: 0 ×8 + 1.81sINFOobjective_server_nodename: "" ×8 + 1.81sINFOobjective_server_nodeinstance_id: "" ×8 + 1.81sINFOobjective_server_node ×8 + 1.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 3.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.03sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.08sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.09sINFOobjective_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 + 3.09sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.09sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[0m ×2 + 4.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.23sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872635 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039247 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.039247 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788913703.60634422 seconds ×3 + 6.27sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 1.991656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_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 + 2.54sERRORobjective_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: 1788913686.10221314 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.31sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.31sINFOobjective_server_nodecaller: ×4 + 2.31sINFOobjective_server_nodetype: 0 ×4 + 2.31sINFOobjective_server_nodename: "" ×4 + 2.31sINFOobjective_server_nodeinstance_id: "" ×4 + 2.31sINFOobjective_server_node ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 2.14sERRORobjective_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: 1788913459.63388681 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.69sINFOobjective_server_nodecaller: ×4 + 2.69sINFOobjective_server_nodetype: 0 ×4 + 2.69sINFOobjective_server_nodename: "" ×4 + 2.69sINFOobjective_server_nodeinstance_id: "" ×4 + 2.69sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794924 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794924 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6).[0m ×2 + 0.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.92sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 1.37sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_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 + 3.03sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788913459.63388681 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.275438 ms (missed cycles : 6).[0m ×2 + 0.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.92sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.92sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 1.23sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 1.34sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 1.37sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 1.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 3.02sINFOobjective_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 + 3.03sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 3.03sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788913459.63388681 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×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 + 3.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.38sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 4.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.64sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 4.64sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 2.14sERRORobjective_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: 1788913459.63388681 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.69sINFOobjective_server_nodecaller: ×4 + 2.69sINFOobjective_server_nodetype: 0 ×4 + 2.69sINFOobjective_server_nodename: "" ×4 + 2.69sINFOobjective_server_nodeinstance_id: "" ×4 + 2.69sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 2.14sERRORobjective_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: 1788913459.63388681 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.69sINFOobjective_server_nodecaller: ×4 + 2.69sINFOobjective_server_nodetype: 0 ×4 + 2.69sINFOobjective_server_nodename: "" ×4 + 2.69sINFOobjective_server_nodeinstance_id: "" ×4 + 2.69sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.01sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700487 ms (missed cycles : 2).[0m ×2 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 0.32sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 0.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 0.34sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 0.45sINFOobjective_server_nodeFound path in 1 iterations (0.00299917 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:18.192] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.633039 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.602] [info] Got request to cancel active goal. ×2 + 2.11sINFOros2_control_node[2026-09-09 00:24:19.603] [info] Canceling active goal... ×2 + 2.14sERRORobjective_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: 1788913459.63388681 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782003 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.69sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.69sINFOobjective_server_nodecaller: ×4 + 2.69sINFOobjective_server_nodetype: 0 ×4 + 2.69sINFOobjective_server_nodename: "" ×4 + 2.69sINFOobjective_server_nodeinstance_id: "" ×4 + 2.69sINFOobjective_server_node ×4 + 2.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788913460.26257706 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788913460.36282611 seconds ×3 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634719 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788913461.01413965 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-09 00:24:21.218] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.427003 ms (missed cycles : 6).[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.468031 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.31sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.31sINFOobjective_server_nodecaller: ×4 + 2.31sINFOobjective_server_nodetype: 0 ×4 + 2.31sINFOobjective_server_nodename: "" ×4 + 2.31sINFOobjective_server_nodeinstance_id: "" ×4 + 2.31sINFOobjective_server_node ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.31sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.31sINFOobjective_server_nodecaller: ×4 + 2.31sINFOobjective_server_nodetype: 0 ×4 + 2.31sINFOobjective_server_nodename: "" ×4 + 2.31sINFOobjective_server_nodeinstance_id: "" ×4 + 2.31sINFOobjective_server_node ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.31sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.31sINFOobjective_server_nodecaller: ×4 + 2.31sINFOobjective_server_nodetype: 0 ×4 + 2.31sINFOobjective_server_nodename: "" ×4 + 2.31sINFOobjective_server_nodeinstance_id: "" ×4 + 2.31sINFOobjective_server_node ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693894 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:24:29.698] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847355 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788913470.98432136 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711388 ms (missed cycles : 2).[0m ×2 + 2.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.31sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.31sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.31sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.31sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.31sINFOobjective_server_nodecaller: ×4 + 2.31sINFOobjective_server_nodetype: 0 ×4 + 2.31sINFOobjective_server_nodename: "" ×4 + 2.31sINFOobjective_server_nodeinstance_id: "" ×4 + 2.31sINFOobjective_server_node ×4 + 2.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788913471.65365171 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788913471.67378426 seconds ×3 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.09sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788913472.32176399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.20sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.21sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Received new action goal ×2 + 3.22sINFOros2_control_node[2026-09-09 00:24:32.447] [info] Accepted new action goal ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853769 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214162 ms (missed cycles : 2).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.602246 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 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 · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 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 · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 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 · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.709914 ms (missed cycles : 5).[0m ×2 + 0.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Received new action goal ×2 + 0.70sINFOros2_control_node[2026-09-09 00:24:40.513] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716160 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743826 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Got request to cancel active goal. ×2 + 2.89sINFOros2_control_node[2026-09-09 00:24:42.702] [info] Canceling active goal... ×2 + 2.89sERRORobjective_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: 1788913482.70476604 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.804895 ms (missed cycles : 5).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.47sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.47sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.47sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.47sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.47sINFOobjective_server_nodecaller: ×2 + 3.47sINFOobjective_server_nodetype: 0 ×2 + 3.47sINFOobjective_server_nodename: "" ×2 + 3.47sINFOobjective_server_nodeinstance_id: "" ×2 + 3.47sINFOobjective_server_node ×2 + 3.53sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788913483.34282947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.54sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.16e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 00:24:43.578] [info] Accepted new action goal ×2 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242279 ms (missed cycles : 4).[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.276556 ms (missed cycles : 7).[0m ×2 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045722 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 92 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732025 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732025 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086083 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.086083 ms (missed cycles : 8).[0m ×2 + 1.19sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 1.19sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.20sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 1.20sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 1.22sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 1.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 1.33sINFOobjective_server_nodeFound path in 1 iterations (0.00308597 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.57sINFOros2_control_node[2026-09-09 00:25:02.907] [info] Received new action goal ×2 + 1.57sINFOros2_control_node[2026-09-09 00:25:02.907] [info] Accepted new action goal ×2 + 1.97sINFOros2_control_node[2026-09-09 00:25:03.311] [info] Received new action goal ×2 + 1.97sINFOros2_control_node[2026-09-09 00:25:03.311] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959100 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959100 ms (missed cycles : 6).[0m ×2 + 2.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776776 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776776 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_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 + 3.27sERRORobjective_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: 1788913504.60613871 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.86sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.86sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.86sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.86sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.86sINFOobjective_server_nodecaller: ×2 + 3.86sINFOobjective_server_nodetype: 0 ×2 + 3.86sINFOobjective_server_nodename: "" ×2 + 3.86sINFOobjective_server_nodeinstance_id: "" ×2 + 3.86sINFOobjective_server_node ×2 + 3.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788913505.32616162 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.16sINFOros2_control_node[2026-09-09 00:25:05.500] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-09 00:25:05.500] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249008 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249008 ms (missed cycles : 4).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733227 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.733227 ms (missed cycles : 2).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158804 ms (missed cycles : 4). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158804 ms (missed cycles : 4).[0m ×2 + 6.70sINFOros2_control_node[2026-09-09 00:25:08.044] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-09-09 00:25:08.045] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678301 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678301 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567411 ms (missed cycles : 3).[0m ×2 + 1.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681351 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788913516.61214471 seconds ×3 + 2.70sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.70sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847236 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.24sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.24sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×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 + 3.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788913517.21207118 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788913517.28220582 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 4.30sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.31sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788913518.08294821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015860 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-09-09 00:25:18.229] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.825629 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788913520.23310018 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908877 ms (missed cycles : 2).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.23sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396747 ms (missed cycles : 4).[0m ×2 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.77sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.83sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788913521.85160184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.92sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.20sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-09-09 00:25:22.269] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864147 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.114110 ms (missed cycles : 5).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.308906 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 22 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663938 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663938 ms (missed cycles : 2).[0m ×2 + 0.07sWARNros2_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 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.177459 ms (missed cycles : 7). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.177459 ms (missed cycles : 7).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918271 ms (missed cycles : 5). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918271 ms (missed cycles : 5).[0m ×2 + 2.61sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788913576.10088730 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOobjective_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: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788913576.76521468 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-09-09 00:26:16.939] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-09-09 00:26:16.939] [info] Accepted new action goal ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028077 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.028077 ms (missed cycles : 5).[0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717910 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_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 + 4.72sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516957 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2082 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.02sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.02sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2082 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.02sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.02sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2082 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.02sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.02sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2082 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.02sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.02sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2082 info |
+ 0.00sINFOros2_control_nodeAccepted new action goal[0m ×666 + 0.02sINFOjoint_trajectory_controllerReceived new action goal ×332 + 0.02sINFOjoint_trajectory_controllerAccepted new action goal ×332 + 0.02sINFOros2_control_nodeReceived new action goal[0m ×664 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881798 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963525 ms (missed cycles : 2).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726626 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692380 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788913642.74442005 seconds ×3 + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.35sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.35sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.35sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.35sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.89sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.89sINFOobjective_server_nodecaller: ×2 + 3.89sINFOobjective_server_nodetype: 0 ×2 + 3.89sINFOobjective_server_nodename: "" ×2 + 3.89sINFOobjective_server_nodeinstance_id: "" ×2 + 3.89sINFOobjective_server_node ×2 + 3.98sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788913643.42978549 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (4.05e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:27:23.645] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698664 ms (missed cycles : 2).[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493675 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803051 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:27:30.812] [info] Accepted new action goal ×2 + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941395 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.577111 ms (missed cycles : 4).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-09-09 00:27:32.575] [info] Accepted new action goal ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930665 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_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 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Got request to cancel active goal. ×2 + 2.79sINFOros2_control_node[2026-09-09 00:27:33.600] [info] Canceling active goal... ×2 + 2.79sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788913653.60671186 seconds ×3 + 2.81sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.37sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.37sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.37sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.37sINFOobjective_server_nodecaller: ×2 + 3.37sINFOobjective_server_nodetype: 0 ×2 + 3.37sINFOobjective_server_nodename: "" ×2 + 3.37sINFOobjective_server_nodeinstance_id: "" ×2 + 3.37sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788913654.28113055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.649996 ms (missed cycles : 4).[0m ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:27:34.467] [info] Accepted new action goal ×2 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712741 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066811 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007858 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007858 ms (missed cycles : 2).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526939 ms (missed cycles : 2). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526939 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522273 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522273 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_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 + 2.85sERRORobjective_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: 1788913664.60159683 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539360 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539360 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.39sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.39sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.39sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.39sINFOobjective_server_nodecaller: ×2 + 3.39sINFOobjective_server_nodetype: 0 ×2 + 3.39sINFOobjective_server_nodename: "" ×2 + 3.39sINFOobjective_server_nodeinstance_id: "" ×2 + 3.39sINFOobjective_server_node ×2 + 3.45sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788913665.20087337 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.76sINFOros2_control_node[2026-09-09 00:27:45.504] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-09 00:27:45.504] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703361 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703361 ms (missed cycles : 2).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106080 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106080 ms (missed cycles : 2).[0m ×2 + 5.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 64 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547590 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.547590 ms (missed cycles : 4).[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813110 ms (missed cycles : 5). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.813110 ms (missed cycles : 5).[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259949 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259949 ms (missed cycles : 4).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788913675.11520123 seconds ×3 + 2.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.25sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.25sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.25sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.25sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.25sINFOobjective_server_nodecaller: ×2 + 3.25sINFOobjective_server_nodetype: 0 ×2 + 3.25sINFOobjective_server_nodename: "" ×2 + 3.25sINFOobjective_server_nodeinstance_id: "" ×2 + 3.25sINFOobjective_server_node ×2 + 3.32sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788913675.73177648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.44sINFOros2_control_node[2026-09-09 00:27:55.856] [info] Received new action goal ×2 + 3.44sINFOros2_control_node[2026-09-09 00:27:55.856] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949141 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.949141 ms (missed cycles : 5).[0m ×2 + 4.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468756 ms (missed cycles : 4). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468756 ms (missed cycles : 4).[0m ×2 + 5.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879795 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879795 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 1.991656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_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 + 2.54sERRORobjective_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: 1788913686.10221314 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_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 + 2.54sERRORobjective_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: 1788913686.10221314 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991656 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_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 + 2.54sERRORobjective_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: 1788913686.10221314 seconds ×3 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.17sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.17sINFOobjective_server_nodecaller: ×6 + 3.17sINFOobjective_server_nodetype: 0 ×6 + 3.17sINFOobjective_server_nodename: "" ×6 + 3.17sINFOobjective_server_nodeinstance_id: "" ×6 + 3.17sINFOobjective_server_node ×6 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.28sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.90sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 4.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.58sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.74sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 4.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_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 + 1.44sERRORobjective_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: 1788913686.10221314 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.07sINFOobjective_server_nodecaller: ×6 + 2.07sINFOobjective_server_nodetype: 0 ×6 + 2.07sINFOobjective_server_nodename: "" ×6 + 2.07sINFOobjective_server_nodeinstance_id: "" ×6 + 2.07sINFOobjective_server_node ×6 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 2.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_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 + 1.44sERRORobjective_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: 1788913686.10221314 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.07sINFOobjective_server_nodecaller: ×6 + 2.07sINFOobjective_server_nodetype: 0 ×6 + 2.07sINFOobjective_server_nodename: "" ×6 + 2.07sINFOobjective_server_nodeinstance_id: "" ×6 + 2.07sINFOobjective_server_node ×6 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 2.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262056 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638227 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_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 + 1.44sERRORobjective_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: 1788913686.10221314 seconds ×3 + 1.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.07sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.07sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.07sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.07sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.07sINFOobjective_server_nodecaller: ×6 + 2.07sINFOobjective_server_nodetype: 0 ×6 + 2.07sINFOobjective_server_nodename: "" ×6 + 2.07sINFOobjective_server_nodeinstance_id: "" ×6 + 2.07sINFOobjective_server_node ×6 + 2.12sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788913686.78200054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714068 ms (missed cycles : 2).[0m ×2 + 2.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.18sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788913686.85214043 seconds ×3 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788913687.45462632 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_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 + 2.82sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788913687.47806716 seconds ×3 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.428874 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.53sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788913688.19316459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.64sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Received new action goal ×2 + 3.65sINFOros2_control_node[2026-09-09 00:28:08.306] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803707 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681482 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 210 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1788913698.60891414 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.89sINFOobjective_server_nodecaller: ×8 + 3.89sINFOobjective_server_nodetype: 0 ×8 + 3.89sINFOobjective_server_nodename: "" ×8 + 3.89sINFOobjective_server_nodeinstance_id: "" ×8 + 3.89sINFOobjective_server_node ×8 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 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 3.101742 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.17sINFOobjective_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 + 5.17sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 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 1.724212 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724212 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834285 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799287 ms (missed cycles : 3).[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374054 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.32sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-09-09 00:28:18.603] [info] Canceling active goal... ×2 + 3.32sERRORobjective_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: 1788913698.60891414 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.89sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.89sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.89sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.89sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.89sINFOobjective_server_nodecaller: ×8 + 3.89sINFOobjective_server_nodetype: 0 ×8 + 3.89sINFOobjective_server_nodename: "" ×8 + 3.89sINFOobjective_server_nodeinstance_id: "" ×8 + 3.89sINFOobjective_server_node ×8 + 3.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788913699.22897077 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 3.101742 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101742 ms (missed cycles : 2).[0m ×2 + 4.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788913699.84911227 seconds ×3 + 5.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.11sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788913700.45417809 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.17sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.17sINFOobjective_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 + 5.17sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.17sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788913700.45629263 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485057 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.71sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788913701.05440617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788913701.05493569 seconds ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.768292 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.31sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788913701.64621115 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.1s | 45 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/2026-09-09-00-23-46-188186-5fba92a7aa6c-7191 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296268 ms (missed cycles : 2). + 0.93sINFOros2_control_node-1process started with pid [7239] ×2 + 0.93sINFOmove_group-9process started with pid [7290] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [7291] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [7292] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [7293] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [7294] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [7295] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [7296] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [7297] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [7298] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [7299] ×2 + 0.93sINFOweb_bridge-19process started with pid [7300] ×2 + 0.93sINFOtf2_web_republisher_node-20process started with pid [7368] ×2 + 0.93sINFOvideo_server-21process started with pid [7371] ×2 + 0.93sINFOweb_bridge_auth_proxy-22process started with pid [7373] ×2 + 0.93sINFOweb_video_auth_proxy-23process started with pid [7374] ×2 + 0.94sINFOros2-2process started with pid [7240] ×2 + 0.94sINFOros2-3process started with pid [7241] ×2 + 0.94sINFOros2-4process started with pid [7253] ×2 + 0.94sINFOros2-5process started with pid [7254] ×2 + 0.94sINFOros2-6process started with pid [7255] ×2 + 0.94sINFOros2-7process started with pid [7256] ×2 + 0.94sINFOros2-8process started with pid [7257] ×2 + 0.96sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_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 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296268 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerReceived robot description from topic. + 0.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF configuration loaded from /tmp/moveit-webrtc-dqm4g6lg/mediamtx.yml ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.49sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.75sINFOmove_group[2026-09-09 00:23:48.352] [moveit_pro_license] [info] ×2 + 1.75sINFOmove_group************************************************* ×4 + 1.75sINFOmove_group* MoveIt Pro License ×2 + 1.75sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOwaypoint_manager_node[2026-09-09 00:23:48.727] [moveit_pro_license] [info] ×2 + 2.13sINFOwaypoint_manager_node************************************************* ×4 + 2.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.13sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498428 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498428 ms (missed cycles : 2).[0m ×2 + 2.20sINFOmove_group ×4 + 2.20sINFOmove_group[92mYou can start planning now![0m ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.35sINFOobjective_server_node[2026-09-09 00:23:49.954] [moveit_pro_license] [info] ×2 + 3.35sINFOobjective_server_node************************************************* ×4 + 3.35sINFOobjective_server_node* MoveIt Pro License ×2 + 3.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.50sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.50sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.66sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.66sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.92sINFOcomponent_container_mt[2026-09-09 00:23:50.516] [moveit_pro_license] [info] ×2 + 3.92sINFOcomponent_container_mt************************************************* ×4 + 3.92sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.92sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.05sWARNobjective_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 + 4.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.15sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.15sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.15sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.15sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.15sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.15sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.15sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.15sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.15sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.15sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.15sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.15sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.15sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037047 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037047 ms (missed cycles : 2).[0m ×2 + 4.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 4.25sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 4.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.27sINFOforce_torque_sensor_broadcasterconfigure successful + 4.27sINFOros2_control_nodeconfigure successful[0m ×2 + 4.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.55sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 4.55sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 4.59sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.59sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.59sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.59sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.59sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.59sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.60sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.60sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.60sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.60sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.62sINFOros2-2process has finished cleanly [pid 7240] ×2 + 4.72sINFOros2_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 + 4.72sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.72sWARNros2_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 + 4.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.89sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.90sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 4.90sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 4.94sINFOros2-4process has finished cleanly [pid 7253] ×2 + 4.96sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.96sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.96sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.96sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.96sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.96sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.96sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.96sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.96sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.97sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.97sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.97sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.97sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.97sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.97sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591778 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591778 ms (missed cycles : 3).[0m ×2 + 5.26sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.26sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.26sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.26sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.33sINFOros2-5process has finished cleanly [pid 7254] ×2 + 5.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 5.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 5.46sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.46sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.47sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.49sINFOros2_control_node[2026-09-09 00:23:52.088] [info] Controller state will be published at 10 Hz. ×2 + 5.49sINFOros2_control_node[2026-09-09 00:23:52.089] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 5.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 5.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.77sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.77sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.77sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.77sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.77sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.78sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.79sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.80sINFOros2-7process has finished cleanly [pid 7256] ×2 + 5.83sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 5.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 5.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 5.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 5.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 5.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.12sINFOros2-3process has finished cleanly [pid 7241] ×2 + 6.15sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 6.15sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 6.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.21sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 6.21sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 6.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.56sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.56sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.56sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.59sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.59sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.59sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.59sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.59sINFOobjective_server_nodecaller: ×10 + 6.59sINFOobjective_server_nodetype: 0 ×10 + 6.59sINFOobjective_server_nodename: "" ×10 + 6.59sINFOobjective_server_nodeinstance_id: "" ×10 + 6.59sINFOobjective_server_node ×10 + 6.59sINFOros2-8process has finished cleanly [pid 7257] ×2 + 6.63sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 6.63sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 6.65sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 6.67sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.67sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.67sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.67sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.70sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.70sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 6.70sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.07sINFOros2-6process has finished cleanly [pid 7255] ×2 + 7.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.23sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 7.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 8.50sWARNros2_control_nodeCamera render tick took 1.95 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 + 8.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.95sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 9.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.66sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 9.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 10.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.28sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.8s | 25 warnings · 355 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×11 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×22 + 0.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.37sINFOros2-6process has finished cleanly [pid 7255] ×2 + 0.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.52sINFOobjective_server_nodecaller: ×12 + 0.52sINFOobjective_server_nodetype: 0 ×12 + 0.52sINFOobjective_server_nodename: "" ×12 + 0.52sINFOobjective_server_nodeinstance_id: "" ×12 + 0.52sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.27sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 7.47sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 437 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 + 0.05sINFOros2-3process has finished cleanly [pid 7241] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.52sINFOobjective_server_nodecaller: ×14 + 0.52sINFOobjective_server_nodetype: 0 ×14 + 0.52sINFOobjective_server_nodename: "" ×14 + 0.52sINFOobjective_server_nodeinstance_id: "" ×14 + 0.52sINFOobjective_server_node ×14 + 0.52sINFOros2-8process has finished cleanly [pid 7257] ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.56sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.59sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.62sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.62sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.99sINFOros2-6process has finished cleanly [pid 7255] ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 1.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 2.43sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.09sINFOros2_control_node[2026-09-09 00:24:01.078] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-09-09 00:24:01.078] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 179 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/2026-09-09-00-23-46-188186-5fba92a7aa6c-7191 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296268 ms (missed cycles : 2). + 0.93sINFOros2_control_node-1process started with pid [7239] ×2 + 0.93sINFOmove_group-9process started with pid [7290] ×2 + 0.93sINFOparameter_manager_node-10process started with pid [7291] ×2 + 0.93sINFOwaypoint_manager_node-11process started with pid [7292] ×2 + 0.93sINFOmove_joint_resampler_node-12process started with pid [7293] ×2 + 0.93sINFOmove_end_effector_resampler_node-13process started with pid [7294] ×2 + 0.93sINFOobjective_server_node_main-14process started with pid [7295] ×2 + 0.93sINFOcomponent_container_mt-15process started with pid [7296] ×2 + 0.93sINFOcomponent_container_mt-16process started with pid [7297] ×2 + 0.93sINFOexecute_objective_bridge-17process started with pid [7298] ×2 + 0.93sINFOui_teleop_bridge-18process started with pid [7299] ×2 + 0.93sINFOweb_bridge-19process started with pid [7300] ×2 + 0.93sINFOtf2_web_republisher_node-20process started with pid [7368] ×2 + 0.93sINFOvideo_server-21process started with pid [7371] ×2 + 0.93sINFOweb_bridge_auth_proxy-22process started with pid [7373] ×2 + 0.93sINFOweb_video_auth_proxy-23process started with pid [7374] ×2 + 0.94sINFOros2-2process started with pid [7240] ×2 + 0.94sINFOros2-3process started with pid [7241] ×2 + 0.94sINFOros2-4process started with pid [7253] ×2 + 0.94sINFOros2-5process started with pid [7254] ×2 + 0.94sINFOros2-6process started with pid [7255] ×2 + 0.94sINFOros2-7process started with pid [7256] ×2 + 0.94sINFOros2-8process started with pid [7257] ×2 + 0.96sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.96sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.96sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.96sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.96sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.96sWARNros2_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 + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296268 ms (missed cycles : 2).[0m ×2 + 0.96sINFOcontroller_managerReceived robot description from topic. + 0.96sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.96sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.96sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.00sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.00sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF configuration loaded from /tmp/moveit-webrtc-dqm4g6lg/mediamtx.yml ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.24sINFOvideo_server2026/09/09 00:23:47 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.49sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.49sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.75sINFOmove_group[2026-09-09 00:23:48.352] [moveit_pro_license] [info] ×2 + 1.75sINFOmove_group************************************************* ×4 + 1.75sINFOmove_group* MoveIt Pro License ×2 + 1.75sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.04sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.11sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.11sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.11sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.11sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOwaypoint_manager_node[2026-09-09 00:23:48.727] [moveit_pro_license] [info] ×2 + 2.13sINFOwaypoint_manager_node************************************************* ×4 + 2.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.13sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.13sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498428 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498428 ms (missed cycles : 2).[0m ×2 + 2.20sINFOmove_group ×4 + 2.20sINFOmove_group[92mYou can start planning now![0m ×2 + 2.23sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.35sINFOobjective_server_node[2026-09-09 00:23:49.954] [moveit_pro_license] [info] ×2 + 3.35sINFOobjective_server_node************************************************* ×4 + 3.35sINFOobjective_server_node* MoveIt Pro License ×2 + 3.36sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.48sINFOobjective_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 + 3.48sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.50sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.50sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.50sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 511 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.088] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.089] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOros2-7process has finished cleanly [pid 7256] ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOros2-3process has finished cleanly [pid 7241] ×2 + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.15sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.19sINFOros2-8process has finished cleanly [pid 7257] ×2 + 1.22sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 1.22sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 1.26sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.66sINFOros2-6process has finished cleanly [pid 7255] ×2 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 3.10sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 4.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 511 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.088] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.089] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOros2-7process has finished cleanly [pid 7256] ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOros2-3process has finished cleanly [pid 7241] ×2 + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.15sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.19sINFOros2-8process has finished cleanly [pid 7257] ×2 + 1.22sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 1.22sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 1.26sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.66sINFOros2-6process has finished cleanly [pid 7255] ×2 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 3.10sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 4.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 511 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.05sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.05sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.088] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-09-09 00:23:52.089] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.32sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.32sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.32sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.32sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.33sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.33sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.37sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.37sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOros2-7process has finished cleanly [pid 7256] ×2 + 0.43sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.54sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.54sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.58sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.58sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.67sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.72sINFOros2-3process has finished cleanly [pid 7241] ×2 + 0.74sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.78sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.78sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.78sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.78sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 0.81sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 1.02sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.15sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.15sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.15sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.18sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.19sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.19sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.19sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.19sINFOobjective_server_nodecaller: ×14 + 1.19sINFOobjective_server_nodetype: 0 ×14 + 1.19sINFOobjective_server_nodename: "" ×14 + 1.19sINFOobjective_server_nodeinstance_id: "" ×14 + 1.19sINFOobjective_server_node ×14 + 1.19sINFOros2-8process has finished cleanly [pid 7257] ×2 + 1.22sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 1.22sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 1.26sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.26sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.26sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.26sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 1.29sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.66sINFOros2-6process has finished cleanly [pid 7255] ×2 + 1.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.82sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.87sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 1.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 1.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.98sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 3.10sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.59sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 4.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.87sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.72sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 6.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.36sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.44sINFOobjective_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 + 6.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.55sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 6.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 6.56sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 437 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 + 0.05sINFOros2-3process has finished cleanly [pid 7241] ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 00:23:52.811] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 00:23:52.812] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701966 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.48sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.52sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.52sINFOobjective_server_nodecaller: ×14 + 0.52sINFOobjective_server_nodetype: 0 ×14 + 0.52sINFOobjective_server_nodename: "" ×14 + 0.52sINFOobjective_server_nodeinstance_id: "" ×14 + 0.52sINFOobjective_server_node ×14 + 0.52sINFOros2-8process has finished cleanly [pid 7257] ×2 + 0.55sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o + 0.56sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_3847u1do --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_72zh8291 --params-file /tmp/launch_params_got2ut7o [0m ×2 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788913433.24987841 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788913433.26016569 seconds ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.59sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.59sINFOros2_control_node[2026-09-09 00:23:53.270] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.62sINFOros2_control_node[2026-09-09 00:23:53.295] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.62sINFOros2_control_node[2026-09-09 00:23:53.295] [info] Controller state will be published at 50 Hz. ×2 + 0.62sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.99sINFOros2-6process has finished cleanly [pid 7255] ×2 + 1.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.15sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 1.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 2.43sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.59sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 3.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 5.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.05sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 5.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.69sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 5.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 347 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:23:53.300] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×11 + 0.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×22 + 0.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.37sINFOros2-6process has finished cleanly [pid 7255] ×2 + 0.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.52sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.52sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.52sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.52sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.52sINFOobjective_server_nodecaller: ×12 + 0.52sINFOobjective_server_nodetype: 0 ×12 + 0.52sINFOobjective_server_nodename: "" ×12 + 0.52sINFOobjective_server_nodeinstance_id: "" ×12 + 0.52sINFOobjective_server_node ×12 + 0.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788913433.87529159 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919539 ms (missed cycles : 2).[0m ×2 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.68sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.71sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 1.80sWARNros2_control_nodeCamera render tick took 1.95 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.25sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.30sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.36sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 2.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 2.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.96sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 3.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.43sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.06sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.13sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.25sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 5.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.27sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 5.27sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/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 |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.07sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.09sINFOros2_control_node[2026-09-09 00:24:01.078] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-09-09 00:24:01.078] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803664 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803664 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 314 info |
+ 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788913434.98550582 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.563804 ms (missed cycles : 4).[0m ×2 + 0.12sWARNros2_control_nodeCamera render tick took 1.95 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 + 0.56sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.56sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.56sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.56sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.56sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.56sINFOobjective_server_nodecaller: ×10 + 0.56sINFOobjective_server_nodetype: 0 ×10 + 0.56sINFOobjective_server_nodename: "" ×10 + 0.56sINFOobjective_server_nodeinstance_id: "" ×10 + 0.56sINFOobjective_server_node ×10 + 0.61sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788913435.59792376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788913435.65813518 seconds ×3 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777078 ms (missed cycles : 5).[0m ×2 + 1.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.28sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788913436.31355572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788913436.33370543 seconds ×3 + 1.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.90sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 1.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788913436.93747520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788913437.08809638 seconds ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250668 ms (missed cycles : 2).[0m ×2 + 2.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788913437.77818370 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.82sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.82sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788913437.81834102 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.405136 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788913438.43332911 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOobjective_server_nodeFound path in 0 iterations (2.3426e-05 s). ×2 + 3.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Received new action goal ×2 + 3.59sINFOros2_control_node[2026-09-09 00:23:58.570] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473845 ms (missed cycles : 4).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580642 ms (missed cycles : 5).[0m ×2 + 5.79sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||