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 | 163 warnings · 19860 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586514 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586514 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091122 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091122 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917999 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917999 ms (missed cycles : 2).[0m ×2 + 2.44sWARNros2_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 + 3.08sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788914613.94673729 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017622 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017622 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_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: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.67sINFOobjective_server_nodecaller: ×4 + 3.67sINFOobjective_server_nodetype: 0 ×4 + 3.67sINFOobjective_server_nodename: "" ×4 + 3.67sINFOobjective_server_nodeinstance_id: "" ×4 + 3.67sINFOobjective_server_node ×4 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788914614.60148263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.91sINFOros2_control_node[2026-09-09 00:43:34.775] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 00:43:34.775] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623392 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623392 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_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 + 5.18sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879095 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879095 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699086 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699086 ms (missed cycles : 2).[0m ×2 + 7.35sINFOjoint_trajectory_controllerReceived new action goal ×3266 + 7.35sINFOjoint_trajectory_controllerAccepted new action goal ×3266 + 7.35sINFOros2_control_nodeReceived new action goal[0m ×6532 + 7.35sINFOros2_control_nodeAccepted new action goal[0m ×6532 + 7.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758394 ms (missed cycles : 4). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.758394 ms (missed cycles : 4).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.920675 ms (missed cycles : 2).[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021584 ms (missed cycles : 5). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021584 ms (missed cycles : 5).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704433 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.704433 ms (missed cycles : 3).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883483 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883483 ms (missed cycles : 2).[0m ×2 + 12.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.25sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.25sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.25sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210821 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210821 ms (missed cycles : 2).[0m ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735805 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735805 ms (missed cycles : 2).[0m ×2 + 14.59sWARNros2_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 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412209 ms (missed cycles : 2). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412209 ms (missed cycles : 2).[0m ×2 + 16.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026249 ms (missed cycles : 2). + 16.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026249 ms (missed cycles : 2).[0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014714 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014714 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771750 ms (missed cycles : 2). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771750 ms (missed cycles : 2).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742691 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742691 ms (missed cycles : 2).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529570 ms (missed cycles : 3). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.529570 ms (missed cycles : 3).[0m ×2 + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709417 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709417 ms (missed cycles : 2).[0m ×2 + 21.58sWARNros2_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 ×4 + 22.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701888 ms (missed cycles : 2). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701888 ms (missed cycles : 2).[0m ×2 + 23.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859151 ms (missed cycles : 2). + 23.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859151 ms (missed cycles : 2).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163664 ms (missed cycles : 2). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163664 ms (missed cycles : 2).[0m ×2 + 25.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732867 ms (missed cycles : 2). + 25.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732867 ms (missed cycles : 2).[0m ×2 + 26.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797654 ms (missed cycles : 3). + 26.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797654 ms (missed cycles : 3).[0m ×2 + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199210 ms (missed cycles : 2). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199210 ms (missed cycles : 2).[0m ×2 + 28.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736140 ms (missed cycles : 2). + 28.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736140 ms (missed cycles : 2).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106816 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106816 ms (missed cycles : 2).[0m ×2 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698041 ms (missed cycles : 6). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.698041 ms (missed cycles : 6).[0m ×2 + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020385 ms (missed cycles : 2). + 31.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.020385 ms (missed cycles : 2).[0m ×2 + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773148 ms (missed cycles : 2). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773148 ms (missed cycles : 2).[0m ×2 + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625771 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625771 ms (missed cycles : 2).[0m ×2 + 34.68sWARNros2_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 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457708 ms (missed cycles : 2). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.457708 ms (missed cycles : 2).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848193 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848193 ms (missed cycles : 2).[0m ×2 + 36.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977431 ms (missed cycles : 2). + 36.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977431 ms (missed cycles : 2).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712609 ms (missed cycles : 2). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712609 ms (missed cycles : 2).[0m ×2 + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221465 ms (missed cycles : 2). + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221465 ms (missed cycles : 2).[0m ×2 + 39.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874105 ms (missed cycles : 2). + 39.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874105 ms (missed cycles : 2).[0m ×2 + 40.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646921 ms (missed cycles : 2). + 40.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646921 ms (missed cycles : 2).[0m ×2 + 41.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.50 s); wrist_camera (1.50 s). The render path has stopped producing new frames for them.[0m ×2 + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795330 ms (missed cycles : 3). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795330 ms (missed cycles : 3).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196645 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196645 ms (missed cycles : 2).[0m ×2 + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823481 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823481 ms (missed cycles : 2).[0m ×2 + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879977 ms (missed cycles : 2). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879977 ms (missed cycles : 2).[0m ×2 + 45.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913468 ms (missed cycles : 2). + 45.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913468 ms (missed cycles : 2).[0m ×2 + 46.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692811 ms (missed cycles : 2). + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692811 ms (missed cycles : 2).[0m ×2 + 47.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914658.41083598 seconds ×3 + 47.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.73sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 48.08sINFOobjective_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: ""
+ 48.08sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788914659.04137897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.23sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078993 ms (missed cycles : 4). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078993 ms (missed cycles : 4).[0m ×2 + 48.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 48.33sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 48.34sINFOros2_control_node[2026-09-09 00:44:19.205] [info] Received new action goal ×2 + 48.34sINFOros2_control_node[2026-09-09 00:44:19.205] [info] Accepted new action goal ×2 + 49.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740202 ms (missed cycles : 4). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740202 ms (missed cycles : 4).[0m ×2 + 50.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072182 ms (missed cycles : 2). + 50.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072182 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.1s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.07sINFOros2_control_node[2026-09-09 00:42:43.932] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-09-09 00:42:43.932] [info] Accepted new action goal ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965926 ms (missed cycles : 5). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.965926 ms (missed cycles : 5).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628697 ms (missed cycles : 6). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628697 ms (missed cycles : 6).[0m ×2 + 9.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817491 ms (missed cycles : 3). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817491 ms (missed cycles : 3).[0m ×2 + 10.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.35sINFOros2_control_node[2026-09-09 00:42:47.213] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-09-09 00:42:47.213] [info] Accepted new action goal ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694962 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694962 ms (missed cycles : 2).[0m ×2 + 11.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032068 ms (missed cycles : 2). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032068 ms (missed cycles : 2).[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187028 ms (missed cycles : 2). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187028 ms (missed cycles : 2).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.37sINFOros2_control_node[2026-09-09 00:42:50.235] [info] Received new action goal ×2 + 13.37sINFOros2_control_node[2026-09-09 00:42:50.235] [info] Accepted new action goal ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430199 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430199 ms (missed cycles : 2).[0m ×2 + 14.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×4 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958174 ms (missed cycles : 3). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958174 ms (missed cycles : 3).[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921683 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921683 ms (missed cycles : 2).[0m ×2 + 16.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.33sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.33sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.33sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.33sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468079 ms (missed cycles : 3). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468079 ms (missed cycles : 3).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356116 ms (missed cycles : 3). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356116 ms (missed cycles : 3).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207023 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207023 ms (missed cycles : 2).[0m ×2 + 19.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334771 ms (missed cycles : 3). + 19.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334771 ms (missed cycles : 3).[0m ×2 + 20.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×6 + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339742 ms (missed cycles : 4). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.339742 ms (missed cycles : 4).[0m ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466448 ms (missed cycles : 5). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466448 ms (missed cycles : 5).[0m ×2 + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428897 ms (missed cycles : 3). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428897 ms (missed cycles : 3).[0m ×2 + 23.08sINFOobjective_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 + 23.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.08sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.08sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.08sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.08sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.01sINFOros2_control_node[2026-09-09 00:43:00.871] [info] Received new action goal ×2 + 24.01sINFOros2_control_node[2026-09-09 00:43:00.871] [info] Accepted new action goal ×2 + 24.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340715 ms (missed cycles : 3). + 24.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.340715 ms (missed cycles : 3).[0m ×2 + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225759 ms (missed cycles : 4). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.225759 ms (missed cycles : 4).[0m ×2 + 25.18sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.19sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.46sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 25.46sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.50sINFOros2_control_node[2026-09-09 00:43:02.365] [info] Received new action goal ×2 + 25.50sINFOros2_control_node[2026-09-09 00:43:02.365] [info] Accepted new action goal ×2 + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618472 ms (missed cycles : 3). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618472 ms (missed cycles : 3).[0m ×2 + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262493 ms (missed cycles : 6). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.262493 ms (missed cycles : 6).[0m ×2 + 27.63sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 27.63sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.64sINFOros2_control_node[2026-09-09 00:43:04.502] [info] Received new action goal ×2 + 27.64sINFOros2_control_node[2026-09-09 00:43:04.502] [info] Accepted new action goal ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393992 ms (missed cycles : 2). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393992 ms (missed cycles : 2).[0m ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974868 ms (missed cycles : 6). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.974868 ms (missed cycles : 6).[0m ×2 + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832154 ms (missed cycles : 2). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832154 ms (missed cycles : 2).[0m ×2 + 30.78sINFOros2_control_node[2026-09-09 00:43:07.642] [info] Received new action goal ×2 + 30.78sINFOros2_control_node[2026-09-09 00:43:07.642] [info] Accepted new action goal ×2 + 31.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751282 ms (missed cycles : 2). + 31.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751282 ms (missed cycles : 2).[0m ×2 + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048206 ms (missed cycles : 3). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048206 ms (missed cycles : 3).[0m ×2 + 33.37sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 33.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.42sINFOros2_control_node[2026-09-09 00:43:10.285] [info] Received new action goal ×2 + 33.42sINFOros2_control_node[2026-09-09 00:43:10.285] [info] Accepted new action goal ×2 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893737 ms (missed cycles : 3). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.893737 ms (missed cycles : 3).[0m ×2 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995074 ms (missed cycles : 2). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995074 ms (missed cycles : 2).[0m ×2 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014976 ms (missed cycles : 5). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014976 ms (missed cycles : 5).[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546095 ms (missed cycles : 2). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546095 ms (missed cycles : 2).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381927 ms (missed cycles : 3). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.381927 ms (missed cycles : 3).[0m ×2 + 39.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639446 ms (missed cycles : 2). + 39.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639446 ms (missed cycles : 2).[0m ×2 + 40.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031048 ms (missed cycles : 2). + 40.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031048 ms (missed cycles : 2).[0m ×2 + 41.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777840 ms (missed cycles : 3). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777840 ms (missed cycles : 3).[0m ×2 + 41.73sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143989 ms (missed cycles : 2). + 42.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143989 ms (missed cycles : 2).[0m ×2 + 43.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254335 ms (missed cycles : 2). + 43.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254335 ms (missed cycles : 2).[0m ×2 + 44.10sINFOros2_control_node[2026-09-09 00:43:20.961] [info] Received new action goal ×2 + 44.10sINFOros2_control_node[2026-09-09 00:43:20.961] [info] Accepted new action goal ×2 + 45.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567386 ms (missed cycles : 6). + 45.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567386 ms (missed cycles : 6).[0m ×2 + 45.26sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788914602.11797833 seconds ×3 + 45.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 45.82sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 46.02sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788914602.88659334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690292 ms (missed cycles : 6). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690292 ms (missed cycles : 6).[0m ×2 + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592544 ms (missed cycles : 2). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592544 ms (missed cycles : 2).[0m ×2 + 47.33sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 47.36sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.37sINFOros2_control_node[2026-09-09 00:43:24.231] [info] Received new action goal ×2 + 47.37sINFOros2_control_node[2026-09-09 00:43:24.231] [info] Accepted new action goal ×2 + 48.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887469 ms (missed cycles : 2). + 48.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887469 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 89 warnings · 13758 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2260 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2260 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4520 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4520 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879977 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879977 ms (missed cycles : 2).[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913468 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913468 ms (missed cycles : 2).[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692811 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692811 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914658.41083598 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.75sINFOobjective_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: ""
+ 3.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.75sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.75sINFOobjective_server_nodecaller: ×4 + 3.75sINFOobjective_server_nodetype: 0 ×4 + 3.75sINFOobjective_server_nodename: "" ×4 + 3.75sINFOobjective_server_nodeinstance_id: "" ×4 + 3.75sINFOobjective_server_node ×4 + 3.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788914659.04137897 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078993 ms (missed cycles : 4). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078993 ms (missed cycles : 4).[0m ×2 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.00sINFOros2_control_node[2026-09-09 00:44:19.205] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-09 00:44:19.205] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740202 ms (missed cycles : 4). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740202 ms (missed cycles : 4).[0m ×2 + 5.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.32sINFOobjective_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 + 5.34sINFOobjective_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 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072182 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072182 ms (missed cycles : 2).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559328 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559328 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757019 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757019 ms (missed cycles : 2).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867131 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867131 ms (missed cycles : 2).[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738002 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738002 ms (missed cycles : 2).[0m ×2 + 11.30sWARNros2_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 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745892 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745892 ms (missed cycles : 2).[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259268 ms (missed cycles : 2). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259268 ms (missed cycles : 2).[0m ×2 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705023 ms (missed cycles : 2). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705023 ms (missed cycles : 2).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548120 ms (missed cycles : 3). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.548120 ms (missed cycles : 3).[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246072 ms (missed cycles : 2). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246072 ms (missed cycles : 2).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.293417 ms (missed cycles : 7). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.293417 ms (missed cycles : 7).[0m ×2 + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183472 ms (missed cycles : 2). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183472 ms (missed cycles : 2).[0m ×2 + 18.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×4 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692919 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.692919 ms (missed cycles : 2).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715184 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715184 ms (missed cycles : 2).[0m ×2 + 20.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283882 ms (missed cycles : 2). + 20.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283882 ms (missed cycles : 2).[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934545 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934545 ms (missed cycles : 2).[0m ×2 + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 24.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 25.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 25.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 25.93sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 26.21sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 26.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 26.22sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 26.22sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.5s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195629 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195629 ms (missed cycles : 4).[0m ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 1 iterations (0.00334617 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOros2_control_node[2026-09-09 00:42:20.418] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-09 00:42:20.418] [info] Accepted new action goal ×2 + 0.95sINFOros2_control_node[2026-09-09 00:42:20.820] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-09 00:42:20.820] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063423 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063423 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965186 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965186 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.10sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_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: 1788914542.97635055 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910407 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910407 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.82sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.82sINFOobjective_server_nodecaller: ×6 + 3.82sINFOobjective_server_nodetype: 0 ×6 + 3.82sINFOobjective_server_nodename: "" ×6 + 3.82sINFOobjective_server_nodeinstance_id: "" ×6 + 3.82sINFOobjective_server_node ×6 + 3.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788914543.79996157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-09-09 00:42:23.990] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 00:42:23.990] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662793 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662793 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374645 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374645 ms (missed cycles : 7).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769214 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769214 ms (missed cycles : 5).[0m ×2 + 7.04sINFOros2_control_node[2026-09-09 00:42:26.911] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-09-09 00:42:26.911] [info] Accepted new action goal ×2 + 7.42sWARNros2_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 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292283 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.292283 ms (missed cycles : 3).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784192 ms (missed cycles : 3). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784192 ms (missed cycles : 3).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.169245 ms (missed cycles : 7). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.169245 ms (missed cycles : 7).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871252 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.871252 ms (missed cycles : 2).[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048764 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048764 ms (missed cycles : 3).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2).[0m ×2 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5).[0m ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2).[0m ×2 + 15.60sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788914555.47892022 seconds ×3 + 16.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.14sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 16.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788914556.06471562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788914556.12483621 seconds ×3 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3).[0m ×2 + 16.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 17.04sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.15sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 17.15sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 17.16sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 17.16sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 19.16sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143989 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143989 ms (missed cycles : 2).[0m ×2 + 0.56sINFOobjective_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 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.56sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.56sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.56sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.56sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254335 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254335 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.44sINFOros2_control_node[2026-09-09 00:43:20.961] [info] Received new action goal ×2 + 1.44sINFOros2_control_node[2026-09-09 00:43:20.961] [info] Accepted new action goal ×2 + 1.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567386 ms (missed cycles : 6). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567386 ms (missed cycles : 6).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788914602.11797833 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.64sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.65sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.65sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.17sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.17sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.17sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.17sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.17sINFOobjective_server_nodecaller: ×4 + 3.17sINFOobjective_server_nodetype: 0 ×4 + 3.17sINFOobjective_server_nodename: "" ×4 + 3.17sINFOobjective_server_nodeinstance_id: "" ×4 + 3.17sINFOobjective_server_node ×4 + 3.37sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788914602.88659334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690292 ms (missed cycles : 6). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.690292 ms (missed cycles : 6).[0m ×2 + 4.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592544 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.592544 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (3.18e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.71sINFOros2_control_node[2026-09-09 00:43:24.231] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-09-09 00:43:24.231] [info] Accepted new action goal ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887469 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887469 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915818 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915818 ms (missed cycles : 2).[0m ×2 + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006555 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006555 ms (missed cycles : 2).[0m ×2 + 8.41sINFOobjective_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 + 8.41sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.41sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.41sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.41sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 9.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.138085 ms (missed cycles : 8). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.138085 ms (missed cycles : 8).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899848 ms (missed cycles : 3). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899848 ms (missed cycles : 3).[0m ×2 + 10.79sINFOobjective_server_nodeFound path in 0 iterations (5.09e-07 s). ×2 + 10.81sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.83sINFOros2_control_node[2026-09-09 00:43:30.342] [info] Received new action goal ×2 + 10.83sINFOros2_control_node[2026-09-09 00:43:30.342] [info] Accepted new action goal ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586514 ms (missed cycles : 6). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586514 ms (missed cycles : 6).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091122 ms (missed cycles : 5). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091122 ms (missed cycles : 5).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917999 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917999 ms (missed cycles : 2).[0m ×2 + 13.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788914613.94673729 seconds ×3 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017622 ms (missed cycles : 4). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017622 ms (missed cycles : 4).[0m ×2 + 15.03sINFOobjective_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: ""
+ 15.03sINFOobjective_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: 1788914614.60148263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.25sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.26sINFOros2_control_node[2026-09-09 00:43:34.775] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-09-09 00:43:34.775] [info] Accepted new action goal ×2 + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623392 ms (missed cycles : 4). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623392 ms (missed cycles : 4).[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 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879095 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879095 ms (missed cycles : 3).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699086 ms (missed cycles : 2). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699086 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.2s | 57 errors · 40 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 0.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 0.81sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788914736.47902012 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.38sINFOobjective_server_nodecaller: ×8 + 1.38sINFOobjective_server_nodetype: 0 ×8 + 1.38sINFOobjective_server_nodename: "" ×8 + 1.38sINFOobjective_server_nodeinstance_id: "" ×8 + 1.38sINFOobjective_server_node ×8 + 1.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.60sINFOobjective_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 + 2.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914740.67343450 seconds ×3 + 5.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508977 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508977 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649419 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649419 ms (missed cycles : 3).[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803541 ms (missed cycles : 2). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803541 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837488 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837488 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274966 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274966 ms (missed cycles : 3).[0m ×2 + 10.63sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.65sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.65sERRORweb_video_auth_proxy-23process has died [pid 7371, 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 + 10.65sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.65sERRORweb_bridge_auth_proxy-22process has died [pid 7370, 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 + 10.65sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.66sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.66sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.66sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.67sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.67sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.68sINFOvideo_server-21process has finished cleanly [pid 7369] ×2 + 10.68sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.68sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.69sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.69sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.70sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.70sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.71sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.71sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.71sINFOvideo_server2026/09/09 00:45:46 INF shutting down gracefully ×2 + 10.71sINFOvideo_server2026/09/09 00:45:46 INF [WebRTC] closing ×2 + 10.71sINFOvideo_server2026/09/09 00:45:46 INF [RTSP] closing ×2 + 10.71sINFOvideo_server2026/09/09 00:45:46 INF waiting for running hooks ×2 + 10.71sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOcontroller_managerShutdown request received.... + 10.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.71sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.71sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.71sERRORmove_groupStack trace (most recent call last) in thread 7713: ×2 + 10.71sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.71sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.71sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.71sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.71sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.71sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.71sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.71sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.71sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.71sINFOcontroller_managerShutting down the controller manager. + 10.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00c4803a63, in __clone ×2 + 10.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00c4776aa3, in ×2 + 10.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00c4a08db3, in ×2 + 10.71sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.71sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.71sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.71sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f00c516da94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00c4d9a620, in rclcpp::Rate::sleep() ×2 + 10.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00c4cdcd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.71sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.71sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.72sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.72sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.72sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.72sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.72sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.72sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.72sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f00c4c9e087, in ×2 + 10.72sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00c49d7390, in __cxa_throw ×2 + 10.72sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00c49c1a54, in std::terminate() ×2 + 10.72sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00c49d70d9, in ×2 + 10.72sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f00c49c1ff4, in ×2 + 10.72sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00c47028fe, in abort ×2 + 10.72sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00c471f27d, in raise ×2 + 10.72sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f00c4778b2c, in pthread_kill ×2 + 10.72sERRORmove_groupAborted (Signal sent by tkill() 7287 0) ×2 + 10.73sERRORmove_group-9process has died [pid 7287, 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_7uxehuqh --params-file /tmp/launch_params_vyprir5w --params-file /tmp/launch_params_8y_pbra5 --params-file /tmp/launch_params_wq6uf3k4 --params-file /tmp/launch_params_vmcojqwa --params-file /tmp/launch_params_09_dy0bu']. ×2 + 10.92sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.92sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.92sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.70sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7368] ×2 + 11.70sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.73sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7291] ×2 + 11.73sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7290] ×2 + 11.77sINFOexecute_objective_bridge-17process has finished cleanly [pid 7295] ×2 + 11.77sINFOui_teleop_bridge-18process has finished cleanly [pid 7296] ×2 + 11.77sINFOwaypoint_manager_node-11process has finished cleanly [pid 7289] ×2 + 11.77sINFOcomponent_container_mt-16process has finished cleanly [pid 7294] ×2 + 11.78sINFOparameter_manager_node-10process has finished cleanly [pid 7288] ×2 + 11.87sINFOobjective_server_node[0;m[2026-09-09 00:45:47.530] [moveit_pro_license] [info] ×2 + 11.87sINFOobjective_server_node************************************************* ×4 + 11.87sINFOobjective_server_node* MoveIt Pro License ×2 + 11.87sINFOobjective_server_node* Application has successfully terminated ×2 + 12.01sINFOobjective_server_node_main-14process has finished cleanly [pid 7292] ×2 + 12.01sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.80sINFOweb_bridge-19process has finished cleanly [pid 7299] ×2 + 12.80sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.87sINFOcomponent_container_mt-15process has finished cleanly [pid 7293] ×2 + 13.35sINFOros2_control_node-1process has finished cleanly [pid 7236] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 57 warnings · 233 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.30sINFOobjective_server_nodecaller: ×6 + 2.30sINFOobjective_server_nodetype: 0 ×6 + 2.30sINFOobjective_server_nodename: "" ×6 + 2.30sINFOobjective_server_nodeinstance_id: "" ×6 + 2.30sINFOobjective_server_node ×6 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[0m ×2 + 6.58sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 6.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 6.60sINFOros2_control_node[2026-09-09 00:41:53.994] [info] Received new action goal ×2 + 6.60sINFOros2_control_node[2026-09-09 00:41:53.994] [info] Accepted new action goal ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411382 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411382 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734291 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734291 ms (missed cycles : 2).[0m ×2 + 8.93sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 8.93sINFOros2_control_node[2026-09-09 00:41:56.331] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-09-09 00:41:56.331] [info] Accepted new action goal ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320179 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320179 ms (missed cycles : 3).[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759975 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759975 ms (missed cycles : 2).[0m ×2 + 10.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 11.28sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 11.28sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 13.62sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 13.63sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 13.63sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 13.67sINFOobjective_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 + 13.67sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 13.67sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 13.68sERRORobjective_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: 1788914521.07345700 seconds ×3 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 14.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.24sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.31sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 14.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.51sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 14.51sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 16.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 58 warnings · 410 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1788914723.96801496 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.18sINFOobjective_server_nodecaller: ×14 + 2.18sINFOobjective_server_nodetype: 0 ×14 + 2.18sINFOobjective_server_nodename: "" ×14 + 2.18sINFOobjective_server_nodeinstance_id: "" ×14 + 2.18sINFOobjective_server_node ×14 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_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 + 2.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 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 (4.62e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4).[0m ×2 + 5.68sWARNros2_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 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035376 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035376 ms (missed cycles : 2).[0m ×2 + 7.06sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.06sINFOros2_control_node[2026-09-09 00:45:29.448] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-09 00:45:29.448] [info] Accepted new action goal ×2 + 7.06sINFOros2_control_node[2026-09-09 00:45:29.448] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868910 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.868910 ms (missed cycles : 3).[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136070 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136070 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977481 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977481 ms (missed cycles : 4).[0m ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661769 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661769 ms (missed cycles : 3).[0m ×2 + 11.75sWARNros2_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 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2).[0m ×2 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 14.09sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 14.09sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 14.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788914736.47902012 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 14.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.66sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 15.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.82sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 15.87sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.87sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 15.87sINFOobjective_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 + 15.88sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 15.88sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 16.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 16.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.42sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 16.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.47sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 17.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.02sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 17.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 208 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393738 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393738 ms (missed cycles : 4).[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.27sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788914529.07555294 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489370 ms (missed cycles : 6). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489370 ms (missed cycles : 6).[0m ×2 + 1.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188433 ms (missed cycles : 3). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188433 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843551 ms (missed cycles : 6). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843551 ms (missed cycles : 6).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.73sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.73sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.73sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.73sINFOobjective_server_nodecaller: ×4 + 3.73sINFOobjective_server_nodetype: 0 ×4 + 3.73sINFOobjective_server_nodename: "" ×4 + 3.73sINFOobjective_server_nodeinstance_id: "" ×4 + 3.73sINFOobjective_server_node ×4 + 3.82sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788914532.59259701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.02sINFOros2_control_node[2026-09-09 00:42:12.797] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-09-09 00:42:12.797] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612456 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612456 ms (missed cycles : 6).[0m ×2 + 5.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691129 ms (missed cycles : 3). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691129 ms (missed cycles : 3).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571504 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571504 ms (missed cycles : 4).[0m ×2 + 7.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.33sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.34sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.61sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.68e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 7.80sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.82sINFOobjective_server_nodeFound path in 1 iterations (0.00372382 s). ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443124 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443124 ms (missed cycles : 3).[0m ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.99sINFOobjective_server_nodeFound path in 2 iterations (0.00502789 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.13sINFOobjective_server_nodeFound path in 1 iterations (0.00384802 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.31sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.69sINFOros2_control_node[2026-09-09 00:42:17.459] [info] Received new action goal ×2 + 8.69sINFOros2_control_node[2026-09-09 00:42:17.459] [info] Accepted new action goal ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462247 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462247 ms (missed cycles : 2).[0m ×2 + 9.81sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378958 ms (missed cycles : 4). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378958 ms (missed cycles : 4).[0m ×2 + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195629 ms (missed cycles : 4). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195629 ms (missed cycles : 4).[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 11.21sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.22sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.25sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 11.38sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 11.41sINFOobjective_server_nodeFound path in 1 iterations (0.00334617 s). ×2 + 11.58sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 11.64sINFOros2_control_node[2026-09-09 00:42:20.418] [info] Received new action goal ×2 + 11.64sINFOros2_control_node[2026-09-09 00:42:20.418] [info] Accepted new action goal ×2 + 12.05sINFOros2_control_node[2026-09-09 00:42:20.820] [info] Received new action goal ×2 + 12.05sINFOros2_control_node[2026-09-09 00:42:20.820] [info] Accepted new action goal ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063423 ms (missed cycles : 5). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063423 ms (missed cycles : 5).[0m ×2 + 13.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965186 ms (missed cycles : 2). + 13.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965186 ms (missed cycles : 2).[0m ×2 + 13.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.20sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.20sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.20sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.20sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.20sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788914542.97635055 seconds ×3 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910407 ms (missed cycles : 5). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910407 ms (missed cycles : 5).[0m ×2 + 14.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.92sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 15.02sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788914543.79996157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.20sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 15.22sINFOros2_control_node[2026-09-09 00:42:23.990] [info] Received new action goal ×2 + 15.22sINFOros2_control_node[2026-09-09 00:42:23.990] [info] Accepted new action goal ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662793 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662793 ms (missed cycles : 3).[0m ×2 + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374645 ms (missed cycles : 7). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374645 ms (missed cycles : 7).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769214 ms (missed cycles : 5). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769214 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 54 warnings · 257 info |
+ 0.00sWARNros2_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 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359434 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359434 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990658 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990658 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605202 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605202 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788914712.96044421 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.35sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.36sINFOobjective_server_nodecaller: ×8 + 3.36sINFOobjective_server_nodetype: 0 ×8 + 3.36sINFOobjective_server_nodename: "" ×8 + 3.36sINFOobjective_server_nodeinstance_id: "" ×8 + 3.36sINFOobjective_server_node ×8 + 3.41sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788914713.55775356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062920 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062920 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_node[2026-09-09 00:45:13.692] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-09 00:45:13.692] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022187 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022187 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051645 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051645 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321986 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321986 ms (missed cycles : 3).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122443 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122443 ms (missed cycles : 2).[0m ×2 + 8.45sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900389 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900389 ms (missed cycles : 2).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238135 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.238135 ms (missed cycles : 3).[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 11.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 13.82sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.82sERRORobjective_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: 1788914723.96801496 seconds ×3 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 14.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.42sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.50sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.51sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.52sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 15.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.08sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.14sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_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 + 15.16sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 15.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.81sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.87sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.98sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 15.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.98sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 15.98sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 56 warnings · 426 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.07sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.10sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.64sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.64sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.64sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.64sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.64sINFOobjective_server_nodecaller: ×12 + 0.64sINFOobjective_server_nodetype: 0 ×12 + 0.64sINFOobjective_server_nodename: "" ×12 + 0.64sINFOobjective_server_nodeinstance_id: "" ×12 + 0.64sINFOobjective_server_node ×12 + 0.68sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.74sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.35sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 1.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 1.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 1.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.96sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 2.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 2.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.49sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_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 + 3.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.63sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 5.87sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.12sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.13sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.15sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.15sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815128 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.815128 ms (missed cycles : 3).[0m ×2 + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807589 ms (missed cycles : 2). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807589 ms (missed cycles : 2).[0m ×2 + 8.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185828 ms (missed cycles : 2).[0m ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 9.95sINFOros2_control_node[2026-09-09 00:41:22.660] [info] Received new action goal ×2 + 9.95sINFOros2_control_node[2026-09-09 00:41:22.660] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376573 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376573 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500995 ms (missed cycles : 3). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500995 ms (missed cycles : 3).[0m ×2 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819726 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819726 ms (missed cycles : 2).[0m ×2 + 13.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 13.26sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.28sINFOros2_control_node[2026-09-09 00:41:25.991] [info] Received new action goal ×2 + 13.28sINFOros2_control_node[2026-09-09 00:41:25.991] [info] Accepted new action goal ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675858 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675858 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.86sINFOros2_control_node[2026-09-09 00:41:26.576] [info] Got request to cancel active goal. ×2 + 13.86sINFOros2_control_node[2026-09-09 00:41:26.577] [info] Canceling active goal... ×2 + 13.88sERRORobjective_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: 1788914486.59285593 seconds ×3 + 13.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 13.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 13.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788914487.27566290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sWARNros2_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 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 14.79sINFOros2_control_node[2026-09-09 00:41:27.503] [info] Received new action goal ×2 + 14.79sINFOros2_control_node[2026-09-09 00:41:27.503] [info] Accepted new action goal ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411389 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411389 ms (missed cycles : 2).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695757 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695757 ms (missed cycles : 3).[0m ×2 + 17.06sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 17.06sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 17.08sINFOros2_control_node[2026-09-09 00:41:29.790] [info] Received new action goal ×2 + 17.08sINFOros2_control_node[2026-09-09 00:41:29.790] [info] Accepted new action goal ×2 + 17.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296397 ms (missed cycles : 2). + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296397 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 204 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500995 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.500995 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819726 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819726 ms (missed cycles : 2).[0m ×2 + 1.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.68sINFOros2_control_node[2026-09-09 00:41:25.991] [info] Received new action goal ×2 + 1.68sINFOros2_control_node[2026-09-09 00:41:25.991] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675858 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675858 ms (missed cycles : 3).[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: ``}. ×6 + 2.27sINFOros2_control_node[2026-09-09 00:41:26.576] [info] Got request to cancel active goal. ×2 + 2.27sINFOros2_control_node[2026-09-09 00:41:26.577] [info] Canceling active goal... ×2 + 2.28sERRORobjective_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: 1788914486.59285593 seconds ×3 + 2.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.29sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.37sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.89sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.90sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.90sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.90sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.90sINFOobjective_server_nodecaller: ×6 + 2.90sINFOobjective_server_nodetype: 0 ×6 + 2.90sINFOobjective_server_nodename: "" ×6 + 2.90sINFOobjective_server_nodeinstance_id: "" ×6 + 2.90sINFOobjective_server_node ×6 + 2.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788914487.27566290 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). ×2 + 3.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.19sINFOros2_control_node[2026-09-09 00:41:27.503] [info] Received new action goal ×2 + 3.19sINFOros2_control_node[2026-09-09 00:41:27.503] [info] Accepted new action goal ×2 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411389 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411389 ms (missed cycles : 2).[0m ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695757 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695757 ms (missed cycles : 3).[0m ×2 + 5.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 5.48sINFOros2_control_node[2026-09-09 00:41:29.790] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-09-09 00:41:29.790] [info] Accepted new action goal ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296397 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296397 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454708 ms (missed cycles : 2). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.454708 ms (missed cycles : 2).[0m ×2 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596865 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596865 ms (missed cycles : 2).[0m ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655868 ms (missed cycles : 6). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.655868 ms (missed cycles : 6).[0m ×2 + 9.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013122 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013122 ms (missed cycles : 2).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 13.27sERRORobjective_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: 1788914497.57628202 seconds ×3 + 13.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 13.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.82sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 14.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.55sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 14.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.80sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 16.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 57 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.52sINFOobjective_server_nodecaller: ×4 + 3.52sINFOobjective_server_nodetype: 0 ×4 + 3.52sINFOobjective_server_nodename: "" ×4 + 3.52sINFOobjective_server_nodeinstance_id: "" ×4 + 3.52sINFOobjective_server_node ×4 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837099 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837099 ms (missed cycles : 2).[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078087 ms (missed cycles : 4). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078087 ms (missed cycles : 4).[0m ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669104 ms (missed cycles : 4). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669104 ms (missed cycles : 4).[0m ×2 + 9.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743823 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743823 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701214 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701214 ms (missed cycles : 3).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818344 ms (missed cycles : 5). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818344 ms (missed cycles : 5).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438668 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438668 ms (missed cycles : 3).[0m ×2 + 13.93sERRORobjective_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: 1788914702.47020602 seconds ×3 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477535 ms (missed cycles : 3). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477535 ms (missed cycles : 3).[0m ×2 + 14.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.47sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788914703.06361365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 14.81sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.83sINFOros2_control_node[2026-09-09 00:45:03.367] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-09-09 00:45:03.367] [info] Accepted new action goal ×2 + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098542 ms (missed cycles : 2). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098542 ms (missed cycles : 2).[0m ×2 + 15.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892360 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892360 ms (missed cycles : 2).[0m ×2 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384732 ms (missed cycles : 6). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384732 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 54 warnings · 2248 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 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 ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645067 ms (missed cycles : 5). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.645067 ms (missed cycles : 5).[0m ×2 + 8.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 8.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.15sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.16sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556824 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556824 ms (missed cycles : 3).[0m ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (6.16e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.62sINFOobjective_server_nodeFound path in 1 iterations (0.00467376 s). ×2 + 8.82sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.89sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.91sINFOros2_control_node[2026-09-09 00:44:46.239] [info] Received new action goal ×2 + 8.91sINFOros2_control_node[2026-09-09 00:44:46.239] [info] Accepted new action goal ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.906283 ms (missed cycles : 8). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.906283 ms (missed cycles : 8).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207566 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207566 ms (missed cycles : 2).[0m ×2 + 11.21sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Received new action goal ×2 + 11.21sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 12.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 13.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.02sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 13.02sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 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 + 14.14sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 14.14sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 14.15sERRORobjective_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: 1788914691.48601937 seconds ×3 + 14.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[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: ""
+ 14.73sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.82sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sWARNros2_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 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 16.92sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 199 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.63sINFOobjective_server_nodeinstance_id: "" ×4 + 3.63sINFOobjective_server_node ×4 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 + 7.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.30sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.57sINFOobjective_server_nodeFound path in 0 iterations (2.53e-07 s). ×2 + 7.57sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 7.58sINFOobjective_server_nodeFound path in 0 iterations (2.75e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 7.75sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 1 iterations (0.00291468 s). ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.017919 ms (missed cycles : 8). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.017919 ms (missed cycles : 8).[0m ×2 + 7.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X_______________X] ×2 + 7.94sINFOobjective_server_nodeFound path in 2 iterations (0.00489926 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X_________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 1 iterations (0.0036455 s). ×2 + 8.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X__________________________X] ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 8.50sINFOros2_control_node[2026-09-09 00:42:06.520] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-09-09 00:42:06.520] [info] Accepted new action goal ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836693 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836693 ms (missed cycles : 2).[0m ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261057 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261057 ms (missed cycles : 3).[0m ×2 + 10.76sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393738 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393738 ms (missed cycles : 4).[0m ×2 + 11.03sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.03sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.03sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.06sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788914529.07555294 seconds ×3 + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489370 ms (missed cycles : 6). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489370 ms (missed cycles : 6).[0m ×2 + 12.04sWARNros2_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 + 13.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188433 ms (missed cycles : 3). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188433 ms (missed cycles : 3).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843551 ms (missed cycles : 6). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.843551 ms (missed cycles : 6).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.58sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788914532.59259701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.43e-07 s). ×2 + 14.78sINFOros2_control_node[2026-09-09 00:42:12.797] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-09 00:42:12.797] [info] Accepted new action goal ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612456 ms (missed cycles : 6). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.612456 ms (missed cycles : 6).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691129 ms (missed cycles : 3). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691129 ms (missed cycles : 3).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571504 ms (missed cycles : 4). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.571504 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 10.8s | 3 errors · 54 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.75sINFOobjective_server_nodecaller: ×8 + 2.75sINFOobjective_server_nodetype: 0 ×8 + 2.75sINFOobjective_server_nodename: "" ×8 + 2.75sINFOobjective_server_nodeinstance_id: "" ×8 + 2.75sINFOobjective_server_node ×8 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3).[0m ×2 + 7.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.76sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706595 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706595 ms (missed cycles : 2).[0m ×2 + 7.77sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.05sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 1 iterations (0.00275756 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X_______________X] ×2 + 8.41sINFOros2_control_node[2026-09-09 00:41:43.791] [info] Received new action goal ×2 + 8.41sINFOros2_control_node[2026-09-09 00:41:43.791] [info] Accepted new action goal ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997598 ms (missed cycles : 2). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997598 ms (missed cycles : 2).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473670 ms (missed cycles : 2). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.473670 ms (missed cycles : 2).[0m ×2 + 10.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 10.73sINFOros2_control_node[2026-09-09 00:41:46.104] [info] Received new action goal ×2 + 10.73sINFOros2_control_node[2026-09-09 00:41:46.104] [info] Accepted new action goal ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.459050 ms (missed cycles : 6). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.459050 ms (missed cycles : 6).[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 12.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.49sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 12.49sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 13.78sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 14.32sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.32sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 14.40sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 14.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.07sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 15.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 15.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 15.26sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 16.68sWARNros2_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 | ||||
| ✓ 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 3.701214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701214 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818344 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818344 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438668 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438668 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1788914702.47020602 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477535 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477535 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.45sINFOobjective_server_nodecaller: ×4 + 3.45sINFOobjective_server_nodetype: 0 ×4 + 3.45sINFOobjective_server_nodename: "" ×4 + 3.45sINFOobjective_server_nodeinstance_id: "" ×4 + 3.45sINFOobjective_server_node ×4 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788914703.06361365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:45:03.367] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:45:03.367] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098542 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098542 ms (missed cycles : 2).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892360 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892360 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384732 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384732 ms (missed cycles : 6).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.725343 ms (missed cycles : 5). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.725343 ms (missed cycles : 5).[0m ×2 + 7.81sINFOros2_control_node[2026-09-09 00:45:07.375] [info] Received new action goal ×2 + 7.81sINFOros2_control_node[2026-09-09 00:45:07.375] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313015 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313015 ms (missed cycles : 3).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744915 ms (missed cycles : 5). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744915 ms (missed cycles : 5).[0m ×2 + 10.58sWARNros2_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 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359434 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359434 ms (missed cycles : 3).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990658 ms (missed cycles : 4). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990658 ms (missed cycles : 4).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605202 ms (missed cycles : 4). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605202 ms (missed cycles : 4).[0m ×2 + 13.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788914712.96044421 seconds ×3 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788914713.55775356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 14.11sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062920 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062920 ms (missed cycles : 2).[0m ×2 + 14.13sINFOros2_control_node[2026-09-09 00:45:13.692] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-09-09 00:45:13.692] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022187 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022187 ms (missed cycles : 2).[0m ×2 + 16.03sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051645 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051645 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788914555.47892022 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.87sINFOobjective_server_nodecaller: ×6 + 2.87sINFOobjective_server_nodetype: 0 ×6 + 2.87sINFOobjective_server_nodename: "" ×6 + 2.87sINFOobjective_server_nodeinstance_id: "" ×6 + 2.87sINFOobjective_server_node ×6 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788914556.06471562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788914556.12483621 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 7.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.45sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.51sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.59sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.60sINFOobjective_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 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 7.88sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.92sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 670 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 + 0.40sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.40sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.40sWARNros2_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 + 0.40sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.40sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.40sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.40sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.40sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.40sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.40sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.40sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.41sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.41sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.41sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.41sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.41sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.41sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.41sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.41sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.41sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.41sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.41sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.41sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.41sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.41sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.41sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.57sINFOcomponent_container_mt[2026-09-09 00:41:08.728] [moveit_pro_license] [info] ×2 + 0.57sINFOcomponent_container_mt************************************************* ×4 + 0.57sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.57sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.58sINFOros2_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_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.60sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.60sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.60sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.61sINFOforce_torque_sensor_broadcasterconfigure successful + 0.61sINFOros2_control_nodeconfigure successful[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.61sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.61sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.61sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087890 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087890 ms (missed cycles : 2).[0m ×2 + 0.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2-2process has finished cleanly [pid 7237] ×2 + 0.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.02sINFOros2_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 + 1.02sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 1.02sWARNros2_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 + 1.03sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.03sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.03sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.03sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.04sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.06sINFOros2_control_node[2026-09-09 00:41:09.224] [info] Controller state will be published at 20 Hz. ×2 + 1.06sINFOros2_control_node[2026-09-09 00:41:09.225] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.12sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.37sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.37sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.37sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.37sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.37sINFOros2-8process has finished cleanly [pid 7254] ×2 + 1.37sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 1.37sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.41sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.41sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.41sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.41sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.41sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.42sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.42sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.42sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.69sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.69sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.73sINFOros2-4process has finished cleanly [pid 7250] ×2 + 1.76sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 1.76sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.80sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.80sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.80sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.80sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.82sINFOros2_control_node[2026-09-09 00:41:09.983] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.82sINFOros2_control_node[2026-09-09 00:41:09.983] [info] Controller state will be published at 50 Hz. ×2 + 1.83sINFOros2_control_node[2026-09-09 00:41:09.989] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5).[0m ×2 + 2.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.14sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.14sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.14sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.14sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.18sINFOros2-6process has finished cleanly [pid 7252] ×2 + 2.21sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 2.21sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 2.25sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.25sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.25sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.25sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.27sINFOros2_control_node[2026-09-09 00:41:10.435] [info] Controller state will be published at 10 Hz. ×2 + 2.28sINFOros2_control_node[2026-09-09 00:41:10.436] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.59sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.59sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.59sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.59sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.59sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 2.59sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 2.60sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.63sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.63sINFOros2-7process has finished cleanly [pid 7253] ×2 + 2.65sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.65sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.65sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.65sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.65sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.65sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 2.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 2.66sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.66sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.86sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.86sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.86sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.86sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.86sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.86sINFOobjective_server_nodecaller: ×14 + 2.86sINFOobjective_server_nodetype: 0 ×14 + 2.86sINFOobjective_server_nodename: "" ×14 + 2.86sINFOobjective_server_nodeinstance_id: "" ×14 + 2.86sINFOobjective_server_node ×14 + 2.91sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 2.93sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.93sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 2.97sINFOros2-3process has finished cleanly [pid 7238] ×2 + 2.98sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.98sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.98sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 2.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 3.04sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.05sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.05sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.05sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.05sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 3.34sINFOros2-5process has finished cleanly [pid 7251] ×2 + 3.46sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.46sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 4.55sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 4.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 5.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.19sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.24sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.90sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 6.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.51sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.56sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.71sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 7.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.35sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 7.44sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 7.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.98sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.04sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.06sINFOobjective_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 + 8.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.16sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.18sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 29 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661769 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661769 ms (missed cycles : 3).[0m ×2 + 0.76sWARNros2_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 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_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 + 3.11sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1788914736.47902012 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.89sINFOobjective_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 + 4.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 + 6.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914740.67343450 seconds ×3 + 7.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3). | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 25 warnings · 125 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.02sINFOros2_control_node[2026-09-09 00:41:46.104] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-09-09 00:41:46.104] [info] Accepted new action goal ×2 + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.459050 ms (missed cycles : 6). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.459050 ms (missed cycles : 6).[0m ×2 + 1.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 1.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.78sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 1.78sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.08sINFOros2_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 + 3.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.61sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×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 + 3.69sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 3.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 3.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.36sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.41sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.55sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 5.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 516 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7250] ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.989] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5).[0m ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 7252] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.435] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.436] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7253] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sINFOros2-3process has finished cleanly [pid 7238] ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 1.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.35sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.35sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 1.65sINFOros2-5process has finished cleanly [pid 7251] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 5.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sERRORobjective_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: 1788914723.96801496 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4).[0m ×2 + 6.72sWARNros2_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 | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 25 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788914555.47892022 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788914556.06471562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788914556.12483621 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sERRORobjective_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: 1788914723.96801496 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4).[0m ×2 + 6.72sWARNros2_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 | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_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 + 1.87sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 1.87sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 1.88sERRORobjective_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: 1788914736.47902012 seconds ×3 + 1.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.88sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.88sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.89sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.45sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.45sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 2.45sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.45sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.45sINFOobjective_server_nodecaller: ×8 + 2.45sINFOobjective_server_nodetype: 0 ×8 + 2.45sINFOobjective_server_nodename: "" ×8 + 2.45sINFOobjective_server_nodeinstance_id: "" ×8 + 2.45sINFOobjective_server_node ×8 + 2.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.61sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.66sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.66sINFOobjective_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 + 3.66sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.66sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.20sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 4.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 + 5.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914740.67343450 seconds ×3 + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 0.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.81sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 0.81sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 0.82sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788914736.47902012 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 1.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.38sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.38sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.38sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.38sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.38sINFOobjective_server_nodecaller: ×8 + 1.38sINFOobjective_server_nodetype: 0 ×8 + 1.38sINFOobjective_server_nodename: "" ×8 + 1.38sINFOobjective_server_nodeinstance_id: "" ×8 + 1.38sINFOobjective_server_node ×8 + 1.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 2.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.54sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.60sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.60sINFOobjective_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 + 2.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.14sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 + 4.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788914740.67343450 seconds ×3 + 5.05sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969148 ms (missed cycles : 3).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508977 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508977 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.1s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3).[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 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461612 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.594009 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sERRORobjective_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: 1788914497.57628202 seconds ×3 + 2.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178363 ms (missed cycles : 4).[0m ×2 + 2.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.75sINFOobjective_server_nodecaller: ×4 + 2.75sINFOobjective_server_nodetype: 0 ×4 + 2.75sINFOobjective_server_nodename: "" ×4 + 2.75sINFOobjective_server_nodeinstance_id: "" ×4 + 2.75sINFOobjective_server_node ×4 + 2.80sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788914498.17555094 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788914498.26566815 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.098892 ms (missed cycles : 6).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.54sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788914498.91398883 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 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-09-09 00:41:39.108] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476179 ms (missed cycles : 2).[0m ×2 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649885 ms (missed cycles : 3).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653985 ms (missed cycles : 3).[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 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[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 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[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 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[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 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381015 ms (missed cycles : 3).[0m ×2 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-09-09 00:41:47.867] [info] Accepted new action goal ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665379 ms (missed cycles : 2).[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788914509.15448546 seconds ×3 + 1.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 1.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.30sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.30sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.30sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.30sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.30sINFOobjective_server_nodecaller: ×4 + 2.30sINFOobjective_server_nodetype: 0 ×4 + 2.30sINFOobjective_server_nodename: "" ×4 + 2.30sINFOobjective_server_nodeinstance_id: "" ×4 + 2.30sINFOobjective_server_node ×4 + 2.38sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788914509.77718925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788914509.85731196 seconds ×3 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490447 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.05sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.10sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788914510.50012350 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.22sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 3.22sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Received new action goal ×2 + 3.24sINFOros2_control_node[2026-09-09 00:41:50.635] [info] Accepted new action goal ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.417571 ms (missed cycles : 4).[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766408 ms (missed cycles : 2).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5). + 5.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852320 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 25 warnings · 90 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.704502 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.66sINFOobjective_server_nodeFound path in 0 iterations (2.06e-07 s). ×2 + 0.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Received new action goal ×2 + 0.67sINFOros2_control_node[2026-09-09 00:41:58.681] [info] Accepted new action goal ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682600 ms (missed cycles : 2).[0m ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.709182 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Received new action goal ×2 + 3.02sINFOros2_control_node[2026-09-09 00:42:01.031] [info] Accepted new action goal ×2 + 3.05sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Got request to cancel active goal. ×2 + 3.05sINFOros2_control_node[2026-09-09 00:42:01.070] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1788914521.07345700 seconds ×3 + 3.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215047 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.63sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.63sINFOobjective_server_nodecaller: ×2 + 3.63sINFOobjective_server_nodetype: 0 ×2 + 3.63sINFOobjective_server_nodename: "" ×2 + 3.63sINFOobjective_server_nodeinstance_id: "" ×2 + 3.63sINFOobjective_server_node ×2 + 3.69sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788914521.70353866 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:01.907] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717809 ms (missed cycles : 2).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.979940 ms (missed cycles : 5).[0m ×2 + 6.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.926657 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195629 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.195629 ms (missed cycles : 4).[0m ×2 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.12sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 0.13sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 0 iterations (3.76e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 1 iterations (0.00334617 s). ×2 + 0.48sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________X_______________X] ×2 + 0.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.55sINFOros2_control_node[2026-09-09 00:42:20.418] [info] Received new action goal ×2 + 0.55sINFOros2_control_node[2026-09-09 00:42:20.418] [info] Accepted new action goal ×2 + 0.95sINFOros2_control_node[2026-09-09 00:42:20.820] [info] Received new action goal ×2 + 0.95sINFOros2_control_node[2026-09-09 00:42:20.820] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063423 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063423 ms (missed cycles : 5).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965186 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965186 ms (missed cycles : 2).[0m ×2 + 2.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.10sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.10sERRORobjective_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: 1788914542.97635055 seconds ×3 + 3.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.11sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910407 ms (missed cycles : 5). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.910407 ms (missed cycles : 5).[0m ×2 + 3.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.82sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.82sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.82sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.82sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.82sINFOobjective_server_nodecaller: ×2 + 3.82sINFOobjective_server_nodetype: 0 ×2 + 3.82sINFOobjective_server_nodename: "" ×2 + 3.82sINFOobjective_server_nodeinstance_id: "" ×2 + 3.82sINFOobjective_server_node ×2 + 3.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788914543.79996157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.12sINFOros2_control_node[2026-09-09 00:42:23.990] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 00:42:23.990] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662793 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.662793 ms (missed cycles : 3).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374645 ms (missed cycles : 7). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.374645 ms (missed cycles : 7).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769214 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769214 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624279 ms (missed cycles : 2).[0m ×2 + 0.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.964201 ms (missed cycles : 5).[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808340 ms (missed cycles : 2).[0m ×2 + 2.34sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788914555.47892022 seconds ×3 + 2.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.34sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.87sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.87sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.87sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.87sINFOobjective_server_nodecaller: ×4 + 2.87sINFOobjective_server_nodetype: 0 ×4 + 2.87sINFOobjective_server_nodename: "" ×4 + 2.87sINFOobjective_server_nodeinstance_id: "" ×4 + 2.87sINFOobjective_server_node ×4 + 2.92sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788914556.06471562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.97sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.97sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788914556.12483621 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329127 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.77sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 3.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 3.89sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788914556.91633654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.21e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Received new action goal ×2 + 0.17sINFOros2_control_node[2026-09-09 00:42:37.030] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848657 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297968 ms (missed cycles : 3).[0m ×2 + 2.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788914559.03645658 seconds ×3 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.777243 ms (missed cycles : 5).[0m ×2 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.72sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788914560.64777946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_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 + 3.88sINFOobjective_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 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321136 ms (missed cycles : 2).[0m ×2 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 00:42:41.065] [info] Accepted new action goal ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906407 ms (missed cycles : 5).[0m ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387084 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586514 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.586514 ms (missed cycles : 6).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091122 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091122 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917999 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917999 ms (missed cycles : 2).[0m ×2 + 2.44sWARNros2_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 + 3.08sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788914613.94673729 seconds ×3 + 3.08sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.08sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.08sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017622 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017622 ms (missed cycles : 4).[0m ×2 + 3.67sINFOobjective_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: ""
+ 3.67sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.67sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.67sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.67sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.67sINFOobjective_server_nodecaller: ×2 + 3.67sINFOobjective_server_nodetype: 0 ×2 + 3.67sINFOobjective_server_nodename: "" ×2 + 3.67sINFOobjective_server_nodeinstance_id: "" ×2 + 3.67sINFOobjective_server_node ×2 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788914614.60148263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.91sINFOros2_control_node[2026-09-09 00:43:34.775] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 00:43:34.775] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623392 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.623392 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_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 + 5.18sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.24sINFOobjective_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 + 5.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879095 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879095 ms (missed cycles : 3).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699086 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699086 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 2134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×341 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×341 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×682 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×682 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814068 ms (missed cycles : 2).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099128 ms (missed cycles : 2).[0m ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867604 ms (missed cycles : 2).[0m ×2 + 3.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788914680.54233479 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788914681.23096752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 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 ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544173 ms (missed cycles : 3).[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Received new action goal ×2 + 4.09sINFOros2_control_node[2026-09-09 00:44:41.425] [info] Accepted new action goal ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387733 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114892 ms (missed cycles : 4).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[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 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 20 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 00:44:48.541] [info] Accepted new action goal ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498506 ms (missed cycles : 2).[0m ×2 + 1.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516651 ms (missed cycles : 3).[0m ×2 + 1.80sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Received new action goal ×2 + 1.81sINFOros2_control_node[2026-09-09 00:44:50.355] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354358 ms (missed cycles : 3).[0m ×2 + 2.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Got request to cancel active goal. ×2 + 2.93sINFOros2_control_node[2026-09-09 00:44:51.471] [info] Canceling active goal... ×2 + 2.94sERRORobjective_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: 1788914691.48601937 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831684 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.52sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.52sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.52sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.52sINFOobjective_server_nodecaller: ×2 + 3.52sINFOobjective_server_nodetype: 0 ×2 + 3.52sINFOobjective_server_nodename: "" ×2 + 3.52sINFOobjective_server_nodeinstance_id: "" ×2 + 3.52sINFOobjective_server_node ×2 + 3.61sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788914692.14953399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sWARNros2_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 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:44:52.343] [info] Accepted new action goal ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830099 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859758 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.701214 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818344 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.818344 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438668 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438668 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sERRORobjective_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: 1788914702.47020602 seconds ×3 + 2.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.91sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477535 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477535 ms (missed cycles : 3).[0m ×2 + 3.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.45sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.45sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.45sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.45sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.45sINFOobjective_server_nodecaller: ×2 + 3.45sINFOobjective_server_nodetype: 0 ×2 + 3.45sINFOobjective_server_nodename: "" ×2 + 3.45sINFOobjective_server_nodeinstance_id: "" ×2 + 3.45sINFOobjective_server_node ×2 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788914703.06361365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.80sINFOros2_control_node[2026-09-09 00:45:03.367] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-09-09 00:45:03.367] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098542 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098542 ms (missed cycles : 2).[0m ×2 + 4.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892360 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892360 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384732 ms (missed cycles : 6). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.384732 ms (missed cycles : 6).[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 (1.31 s); wrist_camera (1.31 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 3.359434 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359434 ms (missed cycles : 3).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990658 ms (missed cycles : 4). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990658 ms (missed cycles : 4).[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605202 ms (missed cycles : 4). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605202 ms (missed cycles : 4).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788914712.96044421 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.82sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.35sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.35sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.35sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.35sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.36sINFOobjective_server_nodecaller: ×2 + 3.36sINFOobjective_server_nodetype: 0 ×2 + 3.36sINFOobjective_server_nodename: "" ×2 + 3.36sINFOobjective_server_nodeinstance_id: "" ×2 + 3.36sINFOobjective_server_node ×2 + 3.41sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788914713.55775356 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 3.53sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062920 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062920 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_node[2026-09-09 00:45:13.692] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-09-09 00:45:13.692] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022187 ms (missed cycles : 2). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022187 ms (missed cycles : 2).[0m ×2 + 5.46sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051645 ms (missed cycles : 3). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051645 ms (missed cycles : 3).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 5.693296 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sERRORobjective_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: 1788914723.96801496 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sERRORobjective_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: 1788914723.96801496 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 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 5.693296 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sERRORobjective_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: 1788914723.96801496 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 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 5.693296 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693296 ms (missed cycles : 4).[0m ×2 + 0.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 2.61sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sERRORobjective_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: 1788914723.96801496 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.21sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.21sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.21sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.21sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.21sINFOobjective_server_nodecaller: ×6 + 3.21sINFOobjective_server_nodetype: 0 ×6 + 3.21sINFOobjective_server_nodename: "" ×6 + 3.21sINFOobjective_server_nodeinstance_id: "" ×6 + 3.21sINFOobjective_server_node ×6 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 3.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.87sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.93sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_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 + 3.95sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 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 4.084224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1788914723.96801496 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_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 + 2.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 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 (4.62e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4).[0m ×2 + 5.68sWARNros2_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 | ||||
| − 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 4.084224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1788914723.96801496 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_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 + 2.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 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 (4.62e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4).[0m ×2 + 5.68sWARNros2_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 | ||||
| − 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 4.084224 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084224 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136280 ms (missed cycles : 3).[0m ×2 + 1.58sINFOobjective_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 + 1.58sERRORobjective_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: 1788914723.96801496 seconds ×3 + 1.64sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.64sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.64sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.65sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.65sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.608481 ms (missed cycles : 3).[0m ×2 + 2.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.18sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.18sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.18sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.18sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.18sINFOobjective_server_nodecaller: ×6 + 2.18sINFOobjective_server_nodetype: 0 ×6 + 2.18sINFOobjective_server_nodename: "" ×6 + 2.18sINFOobjective_server_nodeinstance_id: "" ×6 + 2.18sINFOobjective_server_node ×6 + 2.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788914724.61657715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.26sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.28sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.29sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788914724.68731856 seconds ×3 + 2.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.84sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 2.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788914725.28032041 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOobjective_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 + 2.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788914725.30336118 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158210 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.63sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788914726.01461744 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 (4.62e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Received new action goal ×2 + 3.74sINFOros2_control_node[2026-09-09 00:45:26.128] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892802 ms (missed cycles : 2).[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.443890 ms (missed cycles : 4).[0m ×2 + 5.68sWARNros2_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 | ||||
| − 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 4.661769 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661769 ms (missed cycles : 3).[0m ×2 + 0.76sWARNros2_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 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_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 + 3.11sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1788914736.47902012 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.89sINFOobjective_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 + 4.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 4.661769 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.661769 ms (missed cycles : 3).[0m ×2 + 0.76sWARNros2_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 + 1.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204443 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891673 ms (missed cycles : 2).[0m ×2 + 3.10sINFOobjective_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 + 3.11sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Got request to cancel active goal. ×2 + 3.11sINFOros2_control_node[2026-09-09 00:45:36.474] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1788914736.47902012 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.12sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024415 ms (missed cycles : 2).[0m ×2 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.68sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.68sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.68sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.68sINFOobjective_server_nodecaller: ×8 + 3.68sINFOobjective_server_nodetype: 0 ×8 + 3.68sINFOobjective_server_nodename: "" ×8 + 3.68sINFOobjective_server_nodeinstance_id: "" ×8 + 3.68sINFOobjective_server_node ×8 + 3.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788914737.09902072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788914737.66915035 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955160 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.84sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 4.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788914738.25985169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.89sINFOobjective_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 + 4.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788914738.26222396 seconds ×3 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038762 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.43sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788914738.85365200 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788914738.85412264 seconds ×3 + 6.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.03sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 6.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788914739.45201588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715111 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.9s | 40 warnings · 728 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/2026-09-09-00-41-04-214065-216ca7335192-7188 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004705 ms (missed cycles : 2). + 0.89sINFOros2_control_node-1process started with pid [7236] ×2 + 0.89sINFOmove_group-9process started with pid [7287] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [7288] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [7289] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [7290] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [7291] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [7292] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [7293] ×2 + 0.90sINFOcomponent_container_mt-16process started with pid [7294] ×2 + 0.90sINFOexecute_objective_bridge-17process started with pid [7295] ×2 + 0.90sINFOui_teleop_bridge-18process started with pid [7296] ×2 + 0.90sINFOweb_bridge-19process started with pid [7299] ×2 + 0.90sINFOtf2_web_republisher_node-20process started with pid [7368] ×2 + 0.90sINFOvideo_server-21process started with pid [7369] ×2 + 0.90sINFOweb_bridge_auth_proxy-22process started with pid [7370] ×2 + 0.90sINFOweb_video_auth_proxy-23process started with pid [7371] ×2 + 0.90sINFOros2-2process started with pid [7237] ×2 + 0.90sINFOros2-3process started with pid [7238] ×2 + 0.90sINFOros2-4process started with pid [7250] ×2 + 0.90sINFOros2-5process started with pid [7251] ×2 + 0.90sINFOros2-6process started with pid [7252] ×2 + 0.90sINFOros2-7process started with pid [7253] ×2 + 0.90sINFOros2-8process started with pid [7254] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004705 ms (missed cycles : 2).[0m ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.98sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.32sINFOvideo_server2026/09/09 00:41:05 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.32sINFOvideo_server2026/09/09 00:41:05 INF configuration loaded from /tmp/moveit-webrtc-37x1ngok/mediamtx.yml ×2 + 1.32sINFOvideo_server2026/09/09 00:41:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.33sINFOvideo_server2026/09/09 00:41:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.39sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-09 00:41:06.470] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.90sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.90sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.90sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.90sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.92sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.92sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695857 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695857 ms (missed cycles : 3).[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sINFOwaypoint_manager_node[2026-09-09 00:41:06.738] [moveit_pro_license] [info] ×2 + 2.14sINFOwaypoint_manager_node************************************************* ×4 + 2.14sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.14sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.30sINFOmove_group ×4 + 2.30sINFOmove_group[92mYou can start planning now![0m ×2 + 3.24sINFOobjective_server_node[2026-09-09 00:41:07.835] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.36sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.97sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.97sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.97sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.97sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.97sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.97sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.97sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.97sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.97sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.97sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.97sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.97sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.97sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.97sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.97sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.97sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.97sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.97sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.97sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.97sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.97sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.97sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.97sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.97sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.97sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.97sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.97sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.97sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.97sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.97sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.97sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.13sINFOcomponent_container_mt[2026-09-09 00:41:08.728] [moveit_pro_license] [info] ×2 + 4.13sINFOcomponent_container_mt************************************************* ×4 + 4.13sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.13sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.15sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.15sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 4.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 4.17sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.17sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.17sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.17sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.17sINFOforce_torque_sensor_broadcasterconfigure successful + 4.17sINFOros2_control_nodeconfigure successful[0m ×2 + 4.18sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.18sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.18sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.18sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.18sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087890 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087890 ms (missed cycles : 2).[0m ×2 + 4.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.50sINFOros2-2process has finished cleanly [pid 7237] ×2 + 4.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 4.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 4.58sINFOros2_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 + 4.58sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.58sWARNros2_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 + 4.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.60sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.63sINFOros2_control_node[2026-09-09 00:41:09.224] [info] Controller state will be published at 20 Hz. ×2 + 4.63sINFOros2_control_node[2026-09-09 00:41:09.225] [info] JointVelocityController 'on_configure' succeeded. ×2 + 4.69sWARNobjective_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 + 4.93sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.93sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.93sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.93sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.94sINFOros2-8process has finished cleanly [pid 7254] ×2 + 4.94sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 4.94sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 4.97sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.97sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.97sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.97sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.97sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.97sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.98sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.99sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.99sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.25sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.25sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.25sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.30sINFOros2-4process has finished cleanly [pid 7250] ×2 + 5.33sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 5.33sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 5.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.36sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.36sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.39sINFOros2_control_node[2026-09-09 00:41:09.983] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.39sINFOros2_control_node[2026-09-09 00:41:09.983] [info] Controller state will be published at 50 Hz. ×2 + 5.39sINFOros2_control_node[2026-09-09 00:41:09.989] [info] Registered `FollowJointTrajectory` action server. ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5).[0m ×2 + 5.65sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.71sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.71sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.71sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.71sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.75sINFOros2-6process has finished cleanly [pid 7252] ×2 + 5.78sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 5.78sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 5.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.84sINFOros2_control_node[2026-09-09 00:41:10.435] [info] Controller state will be published at 10 Hz. ×2 + 5.84sINFOros2_control_node[2026-09-09 00:41:10.436] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 5.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.16sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 6.16sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 6.17sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.19sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.19sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.19sINFOros2-7process has finished cleanly [pid 7253] ×2 + 6.21sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.21sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 6.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 6.23sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.23sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.42sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.42sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.42sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.42sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.42sINFOobjective_server_nodecaller: ×10 + 6.42sINFOobjective_server_nodetype: 0 ×10 + 6.42sINFOobjective_server_nodename: "" ×10 + 6.42sINFOobjective_server_nodeinstance_id: "" ×10 + 6.42sINFOobjective_server_node ×10 + 6.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 6.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 6.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 6.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 6.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 6.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 6.53sINFOros2-3process has finished cleanly [pid 7238] ×2 + 6.54sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.54sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.54sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.54sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 6.55sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 6.60sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.60sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.60sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.60sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.60sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.60sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.61sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.61sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.61sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.61sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.61sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.61sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.62sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 6.91sINFOros2-5process has finished cleanly [pid 7251] ×2 + 7.03sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.03sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 7.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 8.12sWARNros2_control_nodeCamera render tick took 1.83 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 + 8.19sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 8.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×4 + 8.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×8 + 8.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.76sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 8.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 9.47sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.47sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.52sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.54sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 10.08sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.08sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 28 warnings · 379 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7251] ×2 + 0.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.43sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.43sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.43sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.43sINFOobjective_server_nodecaller: ×12 + 0.43sINFOobjective_server_nodetype: 0 ×12 + 0.43sINFOobjective_server_nodename: "" ×12 + 0.43sINFOobjective_server_nodeinstance_id: "" ×12 + 0.43sINFOobjective_server_node ×12 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 1.52sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 7.39sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 7.65sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.66sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 7.66sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 458 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-7process has finished cleanly [pid 7253] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.27sINFOobjective_server_nodecaller: ×14 + 0.27sINFOobjective_server_nodetype: 0 ×14 + 0.27sINFOobjective_server_nodename: "" ×14 + 0.27sINFOobjective_server_nodeinstance_id: "" ×14 + 0.27sINFOobjective_server_node ×14 + 0.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2-3process has finished cleanly [pid 7238] ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.45sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 0.75sINFOros2-5process has finished cleanly [pid 7251] ×2 + 0.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.87sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.59sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 5.59sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-09-00-41-04-214065-216ca7335192-7188 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004705 ms (missed cycles : 2). + 0.89sINFOros2_control_node-1process started with pid [7236] ×2 + 0.89sINFOmove_group-9process started with pid [7287] ×2 + 0.90sINFOparameter_manager_node-10process started with pid [7288] ×2 + 0.90sINFOwaypoint_manager_node-11process started with pid [7289] ×2 + 0.90sINFOmove_joint_resampler_node-12process started with pid [7290] ×2 + 0.90sINFOmove_end_effector_resampler_node-13process started with pid [7291] ×2 + 0.90sINFOobjective_server_node_main-14process started with pid [7292] ×2 + 0.90sINFOcomponent_container_mt-15process started with pid [7293] ×2 + 0.90sINFOcomponent_container_mt-16process started with pid [7294] ×2 + 0.90sINFOexecute_objective_bridge-17process started with pid [7295] ×2 + 0.90sINFOui_teleop_bridge-18process started with pid [7296] ×2 + 0.90sINFOweb_bridge-19process started with pid [7299] ×2 + 0.90sINFOtf2_web_republisher_node-20process started with pid [7368] ×2 + 0.90sINFOvideo_server-21process started with pid [7369] ×2 + 0.90sINFOweb_bridge_auth_proxy-22process started with pid [7370] ×2 + 0.90sINFOweb_video_auth_proxy-23process started with pid [7371] ×2 + 0.90sINFOros2-2process started with pid [7237] ×2 + 0.90sINFOros2-3process started with pid [7238] ×2 + 0.90sINFOros2-4process started with pid [7250] ×2 + 0.90sINFOros2-5process started with pid [7251] ×2 + 0.90sINFOros2-6process started with pid [7252] ×2 + 0.90sINFOros2-7process started with pid [7253] ×2 + 0.90sINFOros2-8process started with pid [7254] ×2 + 0.93sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.93sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.93sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.93sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.93sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.93sWARNros2_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 + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004705 ms (missed cycles : 2).[0m ×2 + 0.95sINFOcontroller_managerReceived robot description from topic. + 0.95sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.95sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.95sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.98sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.98sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.17sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.32sINFOvideo_server2026/09/09 00:41:05 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.32sINFOvideo_server2026/09/09 00:41:05 INF configuration loaded from /tmp/moveit-webrtc-37x1ngok/mediamtx.yml ×2 + 1.32sINFOvideo_server2026/09/09 00:41:05 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.33sINFOvideo_server2026/09/09 00:41:05 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.39sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.87sINFOmove_group[2026-09-09 00:41:06.470] [moveit_pro_license] [info] ×2 + 1.87sINFOmove_group************************************************* ×4 + 1.87sINFOmove_group* MoveIt Pro License ×2 + 1.87sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.90sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.90sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.90sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.90sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.92sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.92sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695857 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695857 ms (missed cycles : 3).[0m ×2 + 2.12sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.14sINFOwaypoint_manager_node[2026-09-09 00:41:06.738] [moveit_pro_license] [info] ×2 + 2.14sINFOwaypoint_manager_node************************************************* ×4 + 2.14sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.14sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.16sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.17sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.30sINFOmove_group ×4 + 2.30sINFOmove_group[92mYou can start planning now![0m ×2 + 3.24sINFOobjective_server_node[2026-09-09 00:41:07.835] [moveit_pro_license] [info] ×2 + 3.24sINFOobjective_server_node************************************************* ×4 + 3.24sINFOobjective_server_node* MoveIt Pro License ×2 + 3.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.36sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 3.36sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.37sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.37sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.57sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.57sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 28 warnings · 516 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7250] ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.989] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5).[0m ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 7252] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.435] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.436] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7253] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sINFOros2-3process has finished cleanly [pid 7238] ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 1.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.35sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.35sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 1.65sINFOros2-5process has finished cleanly [pid 7251] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 5.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 28 warnings · 516 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7250] ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.989] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5).[0m ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 7252] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.435] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.436] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7253] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sINFOros2-3process has finished cleanly [pid 7238] ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 1.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.35sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.35sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 1.65sINFOros2-5process has finished cleanly [pid 7251] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 5.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 28 warnings · 516 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.05sINFOros2-4process has finished cleanly [pid 7250] ×2 + 0.08sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.08sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.11sINFOros2_control_node[2026-09-09 00:41:09.959] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.983] [info] Controller state will be published at 50 Hz. ×2 + 0.14sINFOros2_control_node[2026-09-09 00:41:09.989] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.844768 ms (missed cycles : 5).[0m ×2 + 0.39sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.50sINFOros2-6process has finished cleanly [pid 7252] ×2 + 0.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.435] [info] Controller state will be published at 10 Hz. ×2 + 0.59sINFOros2_control_node[2026-09-09 00:41:10.436] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.94sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.94sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.94sINFOros2-7process has finished cleanly [pid 7253] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.96sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.96sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.97sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.97sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.17sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.17sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.17sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.17sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.17sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.17sINFOobjective_server_nodecaller: ×14 + 1.17sINFOobjective_server_nodetype: 0 ×14 + 1.17sINFOobjective_server_nodename: "" ×14 + 1.17sINFOobjective_server_nodeinstance_id: "" ×14 + 1.17sINFOobjective_server_node ×14 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.24sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.24sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.25sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.25sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.28sINFOros2-3process has finished cleanly [pid 7238] ×2 + 1.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.29sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 1.29sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.35sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.35sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.35sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.35sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.35sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.35sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 1.65sINFOros2-5process has finished cleanly [pid 7251] ×2 + 1.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.78sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.82sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 2.87sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 2.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.50sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.22sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 4.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.83sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 5.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.66sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_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 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.47sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 6.48sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 458 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.03sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.03sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.04sINFOros2-7process has finished cleanly [pid 7253] ×2 + 0.06sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.27sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.27sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.27sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.27sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.27sINFOobjective_server_nodecaller: ×14 + 0.27sINFOobjective_server_nodetype: 0 ×14 + 0.27sINFOobjective_server_nodename: "" ×14 + 0.27sINFOobjective_server_nodeinstance_id: "" ×14 + 0.27sINFOobjective_server_node ×14 + 0.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788914471.07178640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788914471.08236933 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOros2-3process has finished cleanly [pid 7238] ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.39sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_yeggnuvc --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_kbl66s4n --params-file /tmp/launch_params_igv4kmvb [0m ×2 + 0.44sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.44sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.45sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.45sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.45sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.45sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.45sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.45sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.45sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.45sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.46sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.46sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 0.75sINFOros2-5process has finished cleanly [pid 7251] ×2 + 0.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.87sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.92sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.92sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 1.96sWARNros2_control_nodeCamera render tick took 1.83 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 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 3.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.31sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.92sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 4.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 5.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.39sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.45sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sINFOobjective_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 + 5.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 5.57sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.59sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 5.59sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 6.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 6.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 363 info |
+ 0.00sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.00sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.02sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.02sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.659105 ms (missed cycles : 4).[0m ×2 + 0.30sINFOros2-5process has finished cleanly [pid 7251] ×2 + 0.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.43sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.43sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.43sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.43sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.43sINFOobjective_server_nodecaller: ×12 + 0.43sINFOobjective_server_nodetype: 0 ×12 + 0.43sINFOobjective_server_nodename: "" ×12 + 0.43sINFOobjective_server_nodeinstance_id: "" ×12 + 0.43sINFOobjective_server_node ×12 + 0.47sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788914471.67184520 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 1.52sWARNros2_control_nodeCamera render tick took 1.83 s (budget 0.100 s, EGL vendor 'Mesa Project', renderer 'llvmpipe (LLVM 20.1.2, 256 bits)' — software rasterizer, so this is the expected cost of the scene rather than GPU contention). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.58sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 1.61sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.61sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.61sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.15sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.26sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 2.87sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.87sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.92sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 4.00sWARNros2_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 + 4.31sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.31sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.36sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.39sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 4.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.94sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 5.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.15sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 5.15sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[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 | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658995 ms (missed cycles : 2).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.83 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 + 0.31sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788914472.78200698 seconds ×3 + 0.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.34sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.88sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.88sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.88sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.88sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.88sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.88sINFOobjective_server_nodecaller: ×10 + 0.88sINFOobjective_server_nodetype: 0 ×10 + 0.88sINFOobjective_server_nodename: "" ×10 + 0.88sINFOobjective_server_nodeinstance_id: "" ×10 + 0.88sINFOobjective_server_node ×10 + 0.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788914473.39989281 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788914473.46007514 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618796 ms (missed cycles : 2).[0m ×2 + 1.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.60sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788914474.11364079 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788914474.13377523 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.135139 ms (missed cycles : 5).[0m ×2 + 2.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.21sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788914474.72465444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788914474.87530065 seconds ×3 + 2.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.04sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788914475.56223345 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901217 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788914475.60235691 seconds ×3 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.74sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788914476.20648551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOobjective_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 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOobjective_server_nodeFound path in 0 iterations (2.226e-05 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 00:41:16.343] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.954696 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930870 ms (missed cycles : 3).[0m ×2 + 6.12sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.37sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.38sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Received new action goal ×2 + 6.39sINFOros2_control_node[2026-09-09 00:41:18.861] [info] Accepted new action goal ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179804 ms (missed cycles : 3).[0m ×2 | ||||