124
Total objective tests
32
Objectives passed
0
Objectives failed
92
Objectives skipped
9.1s
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 | 44.6s | 164 warnings · 18654 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475647 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475647 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937211 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937211 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754220 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754220 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788971072.91347575 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 2.75sINFOobjective_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: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.75sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×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 + 2.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971073.57011795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 2.99sINFOros2_control_node[2026-09-09 16:24:33.744] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-09 16:24:33.744] [info] Accepted new action goal ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676408 ms (missed cycles : 2).[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848991 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848991 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 4.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.33sINFOobjective_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 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909344 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909344 ms (missed cycles : 2).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607878 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607878 ms (missed cycles : 2).[0m ×2 + 6.52sINFOjoint_trajectory_controllerReceived new action goal ×3065 + 6.52sINFOjoint_trajectory_controllerAccepted new action goal ×3065 + 6.52sINFOros2_control_nodeReceived new action goal[0m ×6130 + 6.52sINFOros2_control_nodeAccepted new action goal[0m ×6130 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012947 ms (missed cycles : 2). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.012947 ms (missed cycles : 2).[0m ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869227 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869227 ms (missed cycles : 2).[0m ×2 + 8.80sWARNros2_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 ×4 + 9.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928956 ms (missed cycles : 2). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928956 ms (missed cycles : 2).[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031126 ms (missed cycles : 2). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031126 ms (missed cycles : 2).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242736 ms (missed cycles : 2). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242736 ms (missed cycles : 2).[0m ×2 + 11.33sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 11.33sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 11.33sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 11.33sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 11.34sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736367 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736367 ms (missed cycles : 2).[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869617 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869617 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916154 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916154 ms (missed cycles : 2).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390976 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390976 ms (missed cycles : 2).[0m ×2 + 15.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.57 s); wrist_camera (1.57 s). The render path has stopped producing new frames for them.[0m ×2 + 16.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145008 ms (missed cycles : 3). + 16.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145008 ms (missed cycles : 3).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791493 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.791493 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885033 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885033 ms (missed cycles : 2).[0m ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914628 ms (missed cycles : 2). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914628 ms (missed cycles : 2).[0m ×2 + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261267 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.261267 ms (missed cycles : 2).[0m ×2 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677611 ms (missed cycles : 2). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677611 ms (missed cycles : 2).[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932556 ms (missed cycles : 2). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932556 ms (missed cycles : 2).[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711573 ms (missed cycles : 5). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.711573 ms (missed cycles : 5).[0m ×2 + 23.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.58 s); wrist_camera (1.58 s). The render path has stopped producing new frames for them.[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712369 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712369 ms (missed cycles : 2).[0m ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047550 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047550 ms (missed cycles : 2).[0m ×2 + 26.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991471 ms (missed cycles : 2). + 26.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991471 ms (missed cycles : 2).[0m ×2 + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139489 ms (missed cycles : 2). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139489 ms (missed cycles : 2).[0m ×2 + 28.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846739 ms (missed cycles : 2). + 28.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846739 ms (missed cycles : 2).[0m ×2 + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701460 ms (missed cycles : 2). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701460 ms (missed cycles : 2).[0m ×2 + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713223 ms (missed cycles : 2). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713223 ms (missed cycles : 2).[0m ×2 + 30.89sWARNros2_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 ×4 + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983358 ms (missed cycles : 2). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983358 ms (missed cycles : 2).[0m ×2 + 32.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760151 ms (missed cycles : 2). + 32.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.760151 ms (missed cycles : 2).[0m ×2 + 33.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051372 ms (missed cycles : 3). + 33.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051372 ms (missed cycles : 3).[0m ×2 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241906 ms (missed cycles : 2). + 34.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241906 ms (missed cycles : 2).[0m ×2 + 35.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721048 ms (missed cycles : 2). + 35.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721048 ms (missed cycles : 2).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389211 ms (missed cycles : 2). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389211 ms (missed cycles : 2).[0m ×2 + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667762 ms (missed cycles : 2). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667762 ms (missed cycles : 2).[0m ×2 + 38.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714655 ms (missed cycles : 2). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714655 ms (missed cycles : 2).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755721 ms (missed cycles : 2). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755721 ms (missed cycles : 2).[0m ×2 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564951 ms (missed cycles : 2). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.564951 ms (missed cycles : 2).[0m ×2 + 41.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064358 ms (missed cycles : 4). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064358 ms (missed cycles : 4).[0m ×2 + 42.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811457 ms (missed cycles : 2). + 42.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811457 ms (missed cycles : 2).[0m ×2 + 43.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867011 ms (missed cycles : 2). + 43.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867011 ms (missed cycles : 2).[0m ×2 + 43.87sINFOros2_control_nodeMuJoCo sim: 0.77% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109238 ms (missed cycles : 2). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109238 ms (missed cycles : 2).[0m ×2 + 45.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667350 ms (missed cycles : 2). + 45.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667350 ms (missed cycles : 2).[0m ×2 + 46.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223716 ms (missed cycles : 3). + 46.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223716 ms (missed cycles : 3).[0m ×2 + 46.72sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971117.47740293 seconds ×3 + 46.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 46.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 46.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 47.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.27sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 47.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971118.11335373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.40sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 47.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 47.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 47.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 47.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 47.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 47.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 47.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 47.50sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 47.50sINFOros2_control_node[2026-09-09 16:25:18.257] [info] Received new action goal ×2 + 47.50sINFOros2_control_node[2026-09-09 16:25:18.257] [info] Accepted new action goal ×2 + 47.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.709540 ms (missed cycles : 6). + 47.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.709540 ms (missed cycles : 6).[0m ×2 + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822912 ms (missed cycles : 3). + 48.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822912 ms (missed cycles : 3).[0m ×2 + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856203 ms (missed cycles : 2). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856203 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.4s | 160 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 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 (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 7.11sINFOros2_control_node[2026-09-09 16:23:41.671] [info] Received new action goal ×2 + 7.11sINFOros2_control_node[2026-09-09 16:23:41.671] [info] Accepted new action goal ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226445 ms (missed cycles : 4). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.226445 ms (missed cycles : 4).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124177 ms (missed cycles : 4). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124177 ms (missed cycles : 4).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981246 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981246 ms (missed cycles : 3).[0m ×2 + 9.97sWARNros2_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 + 10.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.44sINFOros2_control_node[2026-09-09 16:23:45.001] [info] Received new action goal ×2 + 10.44sINFOros2_control_node[2026-09-09 16:23:45.001] [info] Accepted new action goal ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045370 ms (missed cycles : 6). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045370 ms (missed cycles : 6).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362903 ms (missed cycles : 3). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362903 ms (missed cycles : 3).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803187 ms (missed cycles : 5). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.803187 ms (missed cycles : 5).[0m ×2 + 13.42sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.48sINFOros2_control_node[2026-09-09 16:23:48.034] [info] Received new action goal ×2 + 13.48sINFOros2_control_node[2026-09-09 16:23:48.034] [info] Accepted new action goal ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486040 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486040 ms (missed cycles : 3).[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221387 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.221387 ms (missed cycles : 2).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961570 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961570 ms (missed cycles : 2).[0m ×2 + 16.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.44sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.44sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.44sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.44sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700262 ms (missed cycles : 2). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700262 ms (missed cycles : 2).[0m ×2 + 18.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286066 ms (missed cycles : 4). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.286066 ms (missed cycles : 4).[0m ×2 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.457985 ms (missed cycles : 5). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.457985 ms (missed cycles : 5).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305792 ms (missed cycles : 2). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305792 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776068 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776068 ms (missed cycles : 2).[0m ×2 + 21.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×4 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178666 ms (missed cycles : 2). + 22.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178666 ms (missed cycles : 2).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711199 ms (missed cycles : 3). + 23.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.711199 ms (missed cycles : 3).[0m ×2 + 24.07sINFOobjective_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 + 24.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.07sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.07sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.07sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.07sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738412 ms (missed cycles : 5). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738412 ms (missed cycles : 5).[0m ×2 + 24.98sINFOros2_control_node[2026-09-09 16:23:59.535] [info] Received new action goal ×2 + 24.98sINFOros2_control_node[2026-09-09 16:23:59.535] [info] Accepted new action goal ×2 + 25.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810447 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810447 ms (missed cycles : 2).[0m ×2 + 26.16sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.17sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.45sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 26.52sINFOros2_control_node[2026-09-09 16:24:01.080] [info] Received new action goal ×2 + 26.52sINFOros2_control_node[2026-09-09 16:24:01.080] [info] Accepted new action goal ×2 + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152967 ms (missed cycles : 2). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152967 ms (missed cycles : 2).[0m ×2 + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345931 ms (missed cycles : 3). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.345931 ms (missed cycles : 3).[0m ×2 + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134162 ms (missed cycles : 4). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134162 ms (missed cycles : 4).[0m ×2 + 28.82sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 28.82sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.84sINFOros2_control_node[2026-09-09 16:24:03.396] [info] Received new action goal ×2 + 28.84sINFOros2_control_node[2026-09-09 16:24:03.396] [info] Accepted new action goal ×2 + 29.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772403 ms (missed cycles : 2). + 29.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772403 ms (missed cycles : 2).[0m ×2 + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604839 ms (missed cycles : 6). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.604839 ms (missed cycles : 6).[0m ×2 + 31.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993858 ms (missed cycles : 2). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993858 ms (missed cycles : 2).[0m ×2 + 31.99sINFOros2_control_node[2026-09-09 16:24:06.546] [info] Received new action goal ×2 + 31.99sINFOros2_control_node[2026-09-09 16:24:06.546] [info] Accepted new action goal ×2 + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831689 ms (missed cycles : 2). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831689 ms (missed cycles : 2).[0m ×2 + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358235 ms (missed cycles : 6). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.358235 ms (missed cycles : 6).[0m ×2 + 34.60sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 34.61sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.68sINFOros2_control_node[2026-09-09 16:24:09.241] [info] Received new action goal ×2 + 34.68sINFOros2_control_node[2026-09-09 16:24:09.241] [info] Accepted new action goal ×2 + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.882335 ms (missed cycles : 8). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.882335 ms (missed cycles : 8).[0m ×2 + 34.98sWARNros2_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 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538160 ms (missed cycles : 4). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538160 ms (missed cycles : 4).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923744 ms (missed cycles : 2). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923744 ms (missed cycles : 2).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206928 ms (missed cycles : 4). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.206928 ms (missed cycles : 4).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735460 ms (missed cycles : 2). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.735460 ms (missed cycles : 2).[0m ×2 + 40.07sINFOros2_control_nodeMuJoCo sim: 0.81% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020805 ms (missed cycles : 2). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020805 ms (missed cycles : 2).[0m ×2 + 40.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935433 ms (missed cycles : 4). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935433 ms (missed cycles : 4).[0m ×2 + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216892 ms (missed cycles : 4). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.216892 ms (missed cycles : 4).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863961 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863961 ms (missed cycles : 2).[0m ×2 + 44.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824976 ms (missed cycles : 2). + 44.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824976 ms (missed cycles : 2).[0m ×2 + 45.40sINFOros2_control_node[2026-09-09 16:24:19.955] [info] Received new action goal ×2 + 45.40sINFOros2_control_node[2026-09-09 16:24:19.955] [info] Accepted new action goal ×2 + 45.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787756 ms (missed cycles : 2). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787756 ms (missed cycles : 2).[0m ×2 + 46.55sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788971061.11121416 seconds ×3 + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930773 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930773 ms (missed cycles : 2).[0m ×2 + 47.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.13sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788971061.88131547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932322 ms (missed cycles : 2). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932322 ms (missed cycles : 2).[0m ×2 + 48.55sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 48.57sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.58sINFOros2_control_node[2026-09-09 16:24:23.136] [info] Received new action goal ×2 + 48.58sINFOros2_control_node[2026-09-09 16:24:23.136] [info] Accepted new action goal ×2 + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.904507 ms (missed cycles : 8). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.904507 ms (missed cycles : 8).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237235 ms (missed cycles : 5). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237235 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 92 warnings · 13134 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2156 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2156 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4312 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4312 + 0.40sINFOros2_control_nodeMuJoCo sim: 0.77% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109238 ms (missed cycles : 2). + 0.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109238 ms (missed cycles : 2).[0m ×2 + 1.41sWARNros2_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 + 1.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667350 ms (missed cycles : 2). + 1.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667350 ms (missed cycles : 2).[0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223716 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223716 ms (missed cycles : 3).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.25sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971117.47740293 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.80sINFOobjective_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: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971118.11335373 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_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 + 3.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.93sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.93sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.03sINFOros2_control_node[2026-09-09 16:25:18.257] [info] Received new action goal ×2 + 4.03sINFOros2_control_node[2026-09-09 16:25:18.257] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.709540 ms (missed cycles : 6). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.709540 ms (missed cycles : 6).[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822912 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822912 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.34sINFOobjective_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 + 5.36sINFOobjective_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 + 5.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856203 ms (missed cycles : 2). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856203 ms (missed cycles : 2).[0m ×2 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601559 ms (missed cycles : 2). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601559 ms (missed cycles : 2).[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930481 ms (missed cycles : 2). + 8.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930481 ms (missed cycles : 2).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800689 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800689 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883325 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883325 ms (missed cycles : 2).[0m ×2 + 10.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700052 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700052 ms (missed cycles : 2).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703375 ms (missed cycles : 2). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703375 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855436 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855436 ms (missed cycles : 2).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589214 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.589214 ms (missed cycles : 4).[0m ×2 + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224316 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.224316 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809053 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809053 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670043 ms (missed cycles : 2). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670043 ms (missed cycles : 2).[0m ×2 + 17.41sWARNros2_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 ×4 + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712943 ms (missed cycles : 2). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712943 ms (missed cycles : 2).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116860 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116860 ms (missed cycles : 2).[0m ×2 + 20.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939896 ms (missed cycles : 2). + 20.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939896 ms (missed cycles : 2).[0m ×2 + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409598 ms (missed cycles : 2). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409598 ms (missed cycles : 2).[0m ×2 + 22.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 22.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 25.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 25.37sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 25.97sINFOobjective_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: ""
+ 25.97sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.06sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.25sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.26sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 26.26sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 28.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 28.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 13.2s | 3 errors · 63 warnings · 268 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_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 + 1.50sERRORobjective_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: 1788970953.68622184 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.05sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.06sINFOobjective_server_nodecaller: ×8 + 2.06sINFOobjective_server_nodetype: 0 ×8 + 2.06sINFOobjective_server_nodename: "" ×8 + 2.06sINFOobjective_server_nodeinstance_id: "" ×8 + 2.06sINFOobjective_server_node ×8 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×4 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080469 ms (missed cycles : 4). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080469 ms (missed cycles : 4).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622401 ms (missed cycles : 5). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.622401 ms (missed cycles : 5).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363635 ms (missed cycles : 4). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363635 ms (missed cycles : 4).[0m ×2 + 9.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 9.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 9.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 9.57sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 9.58sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 9.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 1 iterations (0.00458408 s). ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749994 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749994 ms (missed cycles : 2).[0m ×2 + 9.87sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.96sINFOros2_control_node[2026-09-09 16:22:42.137] [info] Received new action goal ×2 + 9.96sINFOros2_control_node[2026-09-09 16:22:42.137] [info] Accepted new action goal ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115967 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115967 ms (missed cycles : 4).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791305 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791305 ms (missed cycles : 2).[0m ×2 + 12.26sINFOros2_control_node[2026-09-09 16:22:44.440] [info] Received new action goal ×2 + 12.26sINFOros2_control_node[2026-09-09 16:22:44.440] [info] Accepted new action goal ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 14.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.11sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 14.11sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 15.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 15.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.95sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 16.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 16.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 16.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.70sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 16.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.86sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 16.87sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 16.88sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 16.88sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 239 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00338191 s). ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775087 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775087 ms (missed cycles : 5).[0m ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOros2_control_node[2026-09-09 16:23:18.996] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:23:18.996] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-09 16:23:19.428] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-09 16:23:19.428] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626918 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626918 ms (missed cycles : 3).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602788 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602788 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.47sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.47sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.47sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.50sERRORobjective_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: 1788971001.10372281 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.19sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.19sINFOobjective_server_nodecaller: ×6 + 3.19sINFOobjective_server_nodetype: 0 ×6 + 3.19sINFOobjective_server_nodename: "" ×6 + 3.19sINFOobjective_server_nodeinstance_id: "" ×6 + 3.19sINFOobjective_server_node ×6 + 3.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788971001.90563011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:23:22.079] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:23:22.079] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584747 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584747 ms (missed cycles : 4).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026557 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026557 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991934 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991934 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_node[2026-09-09 16:23:24.588] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-09-09 16:23:24.588] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717448 ms (missed cycles : 2). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717448 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.541271 ms (missed cycles : 7). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.541271 ms (missed cycles : 7).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745586 ms (missed cycles : 5). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.745586 ms (missed cycles : 5).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151058 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151058 ms (missed cycles : 2).[0m ×2 + 10.81sWARNros2_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 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885386 ms (missed cycles : 5). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.885386 ms (missed cycles : 5).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985991 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985991 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2).[0m ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5).[0m ×2 + 14.55sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971013.16039944 seconds ×3 + 15.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.09sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.14sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971013.74907017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3).[0m ×2 + 15.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.20sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.20sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971013.81960177 seconds ×3 + 15.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 15.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.95sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.01sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.11sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 16.12sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.13sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 16.13sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 18.14sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 60 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863961 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863961 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_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 + 0.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.94sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.94sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.94sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.94sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824976 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824976 ms (missed cycles : 2).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:24:19.955] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:24:19.955] [info] Accepted new action goal ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787756 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787756 ms (missed cycles : 2).[0m ×2 + 2.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788971061.11121416 seconds ×3 + 3.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930773 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930773 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.58sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.58sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.58sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.58sINFOobjective_server_nodecaller: ×4 + 3.58sINFOobjective_server_nodetype: 0 ×4 + 3.58sINFOobjective_server_nodename: "" ×4 + 3.58sINFOobjective_server_nodeinstance_id: "" ×4 + 3.58sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788971061.88131547 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932322 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932322 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 5.02sINFOros2_control_node[2026-09-09 16:24:23.136] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-09-09 16:24:23.136] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.904507 ms (missed cycles : 8). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.904507 ms (missed cycles : 8).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237235 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.237235 ms (missed cycles : 5).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790178 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790178 ms (missed cycles : 5).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680206 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680206 ms (missed cycles : 2).[0m ×2 + 8.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.72sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.72sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.72sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.72sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939065 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939065 ms (missed cycles : 5).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686390 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686390 ms (missed cycles : 2).[0m ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 11.18sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 11.19sINFOros2_control_node[2026-09-09 16:24:29.308] [info] Received new action goal ×2 + 11.19sINFOros2_control_node[2026-09-09 16:24:29.308] [info] Accepted new action goal ×2 + 11.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712807 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712807 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475647 ms (missed cycles : 3). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475647 ms (missed cycles : 3).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937211 ms (missed cycles : 2). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937211 ms (missed cycles : 2).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754220 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754220 ms (missed cycles : 2).[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788971072.91347575 seconds ×3 + 15.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 15.39sINFOobjective_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: ""
+ 15.39sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971073.57011795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.62sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.63sINFOros2_control_node[2026-09-09 16:24:33.744] [info] Received new action goal ×2 + 15.63sINFOros2_control_node[2026-09-09 16:24:33.744] [info] Accepted new action goal ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676408 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676408 ms (missed cycles : 2).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848991 ms (missed cycles : 2). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848991 ms (missed cycles : 2).[0m ×2 + 16.90sINFOobjective_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 + 16.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909344 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909344 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 58 errors · 39 warnings · 337 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971200.57883239 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.57sINFOobjective_server_nodecaller: ×6 + 2.57sINFOobjective_server_nodetype: 0 ×6 + 2.57sINFOobjective_server_nodename: "" ×6 + 2.57sINFOobjective_server_nodeinstance_id: "" ×6 + 2.57sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971201.17502880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.62sINFOobjective_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 + 2.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971201.17709613 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971201.78236794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971201.79301786 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971202.38837123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971203.85854101 seconds ×3 + 5.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.447889 ms (missed cycles : 6). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.447889 ms (missed cycles : 6).[0m ×2 + 6.88sWARNros2_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 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403138 ms (missed cycles : 6). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.403138 ms (missed cycles : 6).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705887 ms (missed cycles : 2). + 8.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705887 ms (missed cycles : 2).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817672 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817672 ms (missed cycles : 2).[0m ×2 + 10.89sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.89sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.90sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_video_auth_proxy-23process has died [pid 7401, 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 + 10.90sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.91sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.91sERRORweb_bridge_auth_proxy-22process has died [pid 7400, 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 + 10.91sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.92sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.92sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.93sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.93sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.93sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.94sINFOvideo_server-21process has finished cleanly [pid 7398] ×2 + 10.94sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.94sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.95sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.95sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.96sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.96sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.97sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.97sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.97sINFOcontroller_managerShutdown request received.... + 10.97sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.97sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.97sINFOvideo_server2026/09/09 16:26:49 INF shutting down gracefully ×2 + 10.97sINFOvideo_server2026/09/09 16:26:49 INF [WebRTC] closing ×2 + 10.97sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.97sINFOvideo_server2026/09/09 16:26:49 INF [RTSP] closing ×2 + 10.97sINFOvideo_server2026/09/09 16:26:49 INF waiting for running hooks ×2 + 10.97sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.97sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.97sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.97sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.97sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.97sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.97sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.97sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.97sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.97sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.97sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.97sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.97sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.97sINFOcontroller_managerShutting down the controller manager. + 10.97sERRORmove_groupStack trace (most recent call last) in thread 7747: ×2 + 10.97sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.98sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.98sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.98sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.98sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.98sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.98sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.98sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.98sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.98sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.98sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.98sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.98sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a704fba63, in __clone ×2 + 10.98sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a7046eaa3, in ×2 + 10.98sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a70700db3, in ×2 + 10.98sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f3a70e65a94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.98sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3a70a92620, in rclcpp::Rate::sleep() ×2 + 10.98sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3a709d4d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.98sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3a70996087, in ×2 + 10.98sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a706cf390, in __cxa_throw ×2 + 10.98sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a706b9a54, in std::terminate() ×2 + 10.98sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.98sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a706cf0d9, in ×2 + 10.98sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3a706b9ff4, in ×2 + 10.98sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a703fa8fe, in abort ×2 + 10.98sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a7041727d, in raise ×2 + 10.98sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3a70470b2c, in pthread_kill ×2 + 10.98sERRORmove_groupAborted (Signal sent by tkill() 7320 0) ×2 + 10.99sERRORmove_group-9process has died [pid 7320, 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_sb48bdot --params-file /tmp/launch_params_1xfd5z20 --params-file /tmp/launch_params_cpp4xnxv --params-file /tmp/launch_params_28vkzye7 --params-file /tmp/launch_params_f2jwhcag --params-file /tmp/launch_params_t09o2gcd']. ×2 + 11.18sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.18sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.18sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.97sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7396] ×2 + 11.97sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.99sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7324] ×2 + 12.00sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7323] ×2 + 12.03sINFOwaypoint_manager_node-11process has finished cleanly [pid 7322] ×2 + 12.04sINFOcomponent_container_mt-16process has finished cleanly [pid 7327] ×2 + 12.05sINFOui_teleop_bridge-18process has finished cleanly [pid 7329] ×2 + 12.05sINFOparameter_manager_node-10process has finished cleanly [pid 7321] ×2 + 12.06sINFOexecute_objective_bridge-17process has finished cleanly [pid 7328] ×2 + 12.13sINFOobjective_server_node[0;m[2026-09-09 16:26:50.679] [moveit_pro_license] [info] ×2 + 12.13sINFOobjective_server_node************************************************* ×4 + 12.13sINFOobjective_server_node* MoveIt Pro License ×2 + 12.13sINFOobjective_server_node* Application has successfully terminated ×2 + 12.29sINFOobjective_server_node_main-14process has finished cleanly [pid 7325] ×2 + 12.29sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.03sINFOweb_bridge-19process has finished cleanly [pid 7330] ×2 + 13.03sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.14sINFOcomponent_container_mt-15process has finished cleanly [pid 7326] ×2 + 13.63sINFOros2_control_node-1process has finished cleanly [pid 7269] ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 56 warnings · 254 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.67sERRORobjective_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: 1788971183.08436942 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.27sINFOobjective_server_nodecaller: ×8 + 2.27sINFOobjective_server_nodetype: 0 ×8 + 2.27sINFOobjective_server_nodename: "" ×8 + 2.27sINFOobjective_server_nodeinstance_id: "" ×8 + 2.27sINFOobjective_server_node ×8 + 2.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2).[0m ×2 + 7.19sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.20sINFOros2_control_node[2026-09-09 16:26:28.608] [info] Received new action goal ×2 + 7.20sINFOros2_control_node[2026-09-09 16:26:28.608] [info] Accepted new action goal ×2 + 7.20sINFOros2_control_node[2026-09-09 16:26:28.608] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703697 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703697 ms (missed cycles : 2).[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073586 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073586 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.753537 ms (missed cycles : 6). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.753537 ms (missed cycles : 6).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610089 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610089 ms (missed cycles : 3).[0m ×2 + 11.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4). + 11.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8).[0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3).[0m ×2 + 14.17sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Got request to cancel active goal. ×2 + 14.17sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Canceling active goal... ×2 + 14.18sERRORobjective_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: 1788971195.58876562 seconds ×3 + 14.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.75sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 14.81sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971196.21867919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2).[0m ×2 + 17.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 60 warnings · 212 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414882 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414882 ms (missed cycles : 3).[0m ×2 + 0.26sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.26sWARNui_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: 1788970987.37054038 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325381 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325381 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667559 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667559 ms (missed cycles : 2).[0m ×2 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.761654 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.761654 ms (missed cycles : 8).[0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.55sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.55sINFOobjective_server_nodecaller: ×4 + 3.55sINFOobjective_server_nodetype: 0 ×4 + 3.55sINFOobjective_server_nodename: "" ×4 + 3.55sINFOobjective_server_nodeinstance_id: "" ×4 + 3.55sINFOobjective_server_node ×4 + 3.64sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788970990.70973063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.84sINFOros2_control_node[2026-09-09 16:23:10.913] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-09-09 16:23:10.913] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112214 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112214 ms (missed cycles : 5).[0m ×2 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994180 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994180 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512138 ms (missed cycles : 7). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512138 ms (missed cycles : 7).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823461 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823461 ms (missed cycles : 2).[0m ×2 + 7.55sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.77sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.78sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.07sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.08sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.09sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 5 iterations (0.00570449 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_X______________________X] ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262681 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.262681 ms (missed cycles : 2).[0m ×2 + 8.38sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 8.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.01sINFOros2_control_node[2026-09-09 16:23:16.077] [info] Received new action goal ×2 + 9.01sINFOros2_control_node[2026-09-09 16:23:16.077] [info] Accepted new action goal ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756800 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756800 ms (missed cycles : 3).[0m ×2 + 10.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571957 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571957 ms (missed cycles : 4).[0m ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.54sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 11.55sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.56sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 11.68sINFOobjective_server_nodeFound path in 1 iterations (0.00338191 s). ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775087 ms (missed cycles : 5). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775087 ms (missed cycles : 5).[0m ×2 + 11.85sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.93sINFOros2_control_node[2026-09-09 16:23:18.996] [info] Received new action goal ×2 + 11.93sINFOros2_control_node[2026-09-09 16:23:18.996] [info] Accepted new action goal ×2 + 12.36sINFOros2_control_node[2026-09-09 16:23:19.428] [info] Received new action goal ×2 + 12.36sINFOros2_control_node[2026-09-09 16:23:19.428] [info] Accepted new action goal ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626918 ms (missed cycles : 3). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626918 ms (missed cycles : 3).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602788 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602788 ms (missed cycles : 4).[0m ×2 + 14.01sINFOobjective_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 + 14.01sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.01sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.03sERRORobjective_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: 1788971001.10372281 seconds ×3 + 14.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.72sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.84sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788971001.90563011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 15.01sINFOros2_control_node[2026-09-09 16:23:22.079] [info] Received new action goal ×2 + 15.01sINFOros2_control_node[2026-09-09 16:23:22.079] [info] Accepted new action goal ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584747 ms (missed cycles : 4). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584747 ms (missed cycles : 4).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026557 ms (missed cycles : 5). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026557 ms (missed cycles : 5).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991934 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991934 ms (missed cycles : 2).[0m ×2 + 17.52sINFOros2_control_node[2026-09-09 16:23:24.588] [info] Received new action goal ×2 + 17.52sINFOros2_control_node[2026-09-09 16:23:24.588] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 257 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566673 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566673 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243497 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243497 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831767 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788971172.07571912 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.22sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.22sINFOobjective_server_nodecaller: ×8 + 3.22sINFOobjective_server_nodetype: 0 ×8 + 3.22sINFOobjective_server_nodename: "" ×8 + 3.22sINFOobjective_server_nodeinstance_id: "" ×8 + 3.22sINFOobjective_server_node ×8 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613588 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613588 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788971172.68396688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.42sINFOros2_control_node[2026-09-09 16:26:12.818] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-09 16:26:12.818] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558102 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558102 ms (missed cycles : 3).[0m ×2 + 5.23sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676918 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676918 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404771 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404771 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818271 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818271 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081694 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081694 ms (missed cycles : 2).[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234546 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.234546 ms (missed cycles : 4).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 12.01sWARNros2_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 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2).[0m ×2 + 13.68sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.68sERRORobjective_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: 1788971183.08436942 seconds ×3 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 14.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.28sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.40sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.40sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 14.96sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.96sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.01sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_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 + 15.04sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 15.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.69sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 15.76sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.88sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 15.88sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.89sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 17.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ 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 1.796602 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796602 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176226 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176226 ms (missed cycles : 2).[0m ×2 + 1.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.65sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 1.67sINFOros2_control_node[2026-09-09 16:22:22.283] [info] Received new action goal ×2 + 1.67sINFOros2_control_node[2026-09-09 16:22:22.283] [info] Accepted new action goal ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985305 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985305 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.07sINFOros2_control_node[2026-09-09 16:22:22.679] [info] Got request to cancel active goal. ×2 + 2.07sINFOros2_control_node[2026-09-09 16:22:22.679] [info] Canceling active goal... ×2 + 2.09sERRORobjective_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: 1788970942.69527531 seconds ×3 + 2.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.09sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.70sINFOobjective_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: ""
+ 2.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.70sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.70sINFOobjective_server_nodecaller: ×6 + 2.70sINFOobjective_server_nodetype: 0 ×6 + 2.70sINFOobjective_server_nodename: "" ×6 + 2.70sINFOobjective_server_nodeinstance_id: "" ×6 + 2.70sINFOobjective_server_node ×6 + 2.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 2.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788970943.37563396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.00sINFOros2_control_node[2026-09-09 16:22:23.610] [info] Received new action goal ×2 + 3.00sINFOros2_control_node[2026-09-09 16:22:23.610] [info] Accepted new action goal ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891897 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891897 ms (missed cycles : 2).[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118589 ms (missed cycles : 4). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118589 ms (missed cycles : 4).[0m ×2 + 5.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956376 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956376 ms (missed cycles : 2).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 5.27sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.28sINFOros2_control_node[2026-09-09 16:22:25.890] [info] Received new action goal ×2 + 5.28sINFOros2_control_node[2026-09-09 16:22:25.890] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816744 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816744 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013899 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013899 ms (missed cycles : 2).[0m ×2 + 7.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117682 ms (missed cycles : 4). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.117682 ms (missed cycles : 4).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989811 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989811 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837430 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837430 ms (missed cycles : 2).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 13.08sERRORobjective_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: 1788970953.68622184 seconds ×3 + 13.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.63sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 13.96sWARNros2_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 + 14.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.36sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.41sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.60sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 14.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.62sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 14.62sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.16sINFOobjective_server_nodecaller: ×4 + 3.16sINFOobjective_server_nodetype: 0 ×4 + 3.16sINFOobjective_server_nodename: "" ×4 + 3.16sINFOobjective_server_nodeinstance_id: "" ×4 + 3.16sINFOobjective_server_node ×4 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756199 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756199 ms (missed cycles : 2).[0m ×2 + 7.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.13sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.14sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.42sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.43sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 7.43sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144444 ms (missed cycles : 4). + 7.45sINFOobjective_server_nodeFound path in 0 iterations (4.86e-07 s). ×2 + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144444 ms (missed cycles : 4).[0m ×2 + 7.48sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 7.61sINFOobjective_server_nodeFound path in 5 iterations (0.00534833 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 7.74sINFOobjective_server_nodeFound path in 0 iterations (1.004e-06 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 7.86sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.31sINFOros2_control_node[2026-09-09 16:23:04.805] [info] Received new action goal ×2 + 8.31sINFOros2_control_node[2026-09-09 16:23:04.805] [info] Accepted new action goal ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054095 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054095 ms (missed cycles : 2).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820004 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820004 ms (missed cycles : 2).[0m ×2 + 10.57sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414882 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414882 ms (missed cycles : 3).[0m ×2 + 10.83sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 10.83sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 10.84sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 10.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788970987.37054038 seconds ×3 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325381 ms (missed cycles : 4). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325381 ms (missed cycles : 4).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667559 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667559 ms (missed cycles : 2).[0m ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.761654 ms (missed cycles : 8). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.761654 ms (missed cycles : 8).[0m ×2 + 14.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.12sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.21sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788970990.70973063 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sINFOobjective_server_nodeFound path in 0 iterations (2.77e-07 s). ×2 + 14.41sINFOros2_control_node[2026-09-09 16:23:10.913] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-09-09 16:23:10.913] [info] Accepted new action goal ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112214 ms (missed cycles : 5). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.112214 ms (missed cycles : 5).[0m ×2 + 15.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994180 ms (missed cycles : 3). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994180 ms (missed cycles : 3).[0m ×2 + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512138 ms (missed cycles : 7). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.512138 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 57 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.80sINFOobjective_server_nodecaller: ×4 + 3.80sINFOobjective_server_nodetype: 0 ×4 + 3.80sINFOobjective_server_nodename: "" ×4 + 3.80sINFOobjective_server_nodeinstance_id: "" ×4 + 3.80sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151852 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.151852 ms (missed cycles : 2).[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432570 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432570 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013501 ms (missed cycles : 4). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.013501 ms (missed cycles : 4).[0m ×2 + 10.09sWARNros2_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 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696313 ms (missed cycles : 5). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.696313 ms (missed cycles : 5).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794049 ms (missed cycles : 6). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794049 ms (missed cycles : 6).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419553 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419553 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888425 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888425 ms (missed cycles : 3).[0m ×2 + 14.21sERRORobjective_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: 1788971161.57837820 seconds ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511225 ms (missed cycles : 3). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511225 ms (missed cycles : 3).[0m ×2 + 14.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.76sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788971162.17780423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 15.11sINFOros2_control_node[2026-09-09 16:26:02.482] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-09 16:26:02.482] [info] Accepted new action goal ×2 + 15.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351564 ms (missed cycles : 4). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351564 ms (missed cycles : 4).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654421 ms (missed cycles : 5). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654421 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 57 warnings · 2170 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×328 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×656 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×656 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.85sINFOobjective_server_nodecaller: ×4 + 3.85sINFOobjective_server_nodetype: 0 ×4 + 3.85sINFOobjective_server_nodename: "" ×4 + 3.85sINFOobjective_server_nodeinstance_id: "" ×4 + 3.85sINFOobjective_server_node ×4 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247035 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247035 ms (missed cycles : 2).[0m ×2 + 8.28sWARNros2_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 ×4 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 8.32sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 8.32sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869243 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869243 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.61sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 8.61sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.0041594 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 9.03sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 9.05sINFOros2_control_node[2026-09-09 16:25:45.392] [info] Received new action goal ×2 + 9.05sINFOros2_control_node[2026-09-09 16:25:45.392] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571078 ms (missed cycles : 4). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.571078 ms (missed cycles : 4).[0m ×2 + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 11.35sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 11.35sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 13.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.19sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 13.19sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 14.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 14.24sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 14.25sERRORobjective_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: 1788971150.59218884 seconds ×3 + 14.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.82sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.82sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.91sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 15.11sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.8s | 3 errors · 59 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.67sINFOobjective_server_nodecaller: ×12 + 0.67sINFOobjective_server_nodetype: 0 ×12 + 0.67sINFOobjective_server_nodename: "" ×12 + 0.67sINFOobjective_server_nodeinstance_id: "" ×12 + 0.68sINFOobjective_server_node ×12 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765560 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765560 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026000 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026000 ms (missed cycles : 2).[0m ×2 + 7.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941963 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941963 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.054474 ms (missed cycles : 6). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.054474 ms (missed cycles : 6).[0m ×2 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 10.01sINFOros2_control_node[2026-09-09 16:22:18.945] [info] Received new action goal ×2 + 10.01sINFOros2_control_node[2026-09-09 16:22:18.945] [info] Accepted new action goal ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275458 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275458 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796602 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796602 ms (missed cycles : 2).[0m ×2 + 12.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176226 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176226 ms (missed cycles : 2).[0m ×2 + 13.32sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.35sINFOros2_control_node[2026-09-09 16:22:22.283] [info] Received new action goal ×2 + 13.35sINFOros2_control_node[2026-09-09 16:22:22.283] [info] Accepted new action goal ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985305 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985305 ms (missed cycles : 3).[0m ×2 + 13.74sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sINFOros2_control_node[2026-09-09 16:22:22.679] [info] Got request to cancel active goal. ×2 + 13.74sINFOros2_control_node[2026-09-09 16:22:22.679] [info] Canceling active goal... ×2 + 13.76sERRORobjective_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: 1788970942.69527531 seconds ×3 + 13.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.37sINFOobjective_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: ""
+ 14.37sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.44sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788970943.37563396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sINFOobjective_server_nodeFound path in 0 iterations (5.69e-07 s). ×2 + 14.67sINFOros2_control_node[2026-09-09 16:22:23.610] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-09-09 16:22:23.610] [info] Accepted new action goal ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891897 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891897 ms (missed cycles : 2).[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118589 ms (missed cycles : 4). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118589 ms (missed cycles : 4).[0m ×2 + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956376 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956376 ms (missed cycles : 2).[0m ×2 + 16.94sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 16.94sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 16.95sINFOros2_control_node[2026-09-09 16:22:25.890] [info] Received new action goal ×2 + 16.95sINFOros2_control_node[2026-09-09 16:22:25.890] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 57 warnings · 222 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.97sINFOobjective_server_nodecaller: ×6 + 2.97sINFOobjective_server_nodetype: 0 ×6 + 2.97sINFOobjective_server_nodename: "" ×6 + 2.97sINFOobjective_server_nodeinstance_id: "" ×6 + 2.97sINFOobjective_server_node ×6 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 7.26sINFOros2_control_node[2026-09-09 16:22:52.412] [info] Received new action goal ×2 + 7.26sINFOros2_control_node[2026-09-09 16:22:52.412] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729971 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729971 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759081 ms (missed cycles : 5). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759081 ms (missed cycles : 5).[0m ×2 + 9.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677941 ms (missed cycles : 2). + 9.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677941 ms (missed cycles : 2).[0m ×2 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 9.60sINFOros2_control_node[2026-09-09 16:22:54.749] [info] Received new action goal ×2 + 9.60sINFOros2_control_node[2026-09-09 16:22:54.749] [info] Accepted new action goal ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.865976 ms (missed cycles : 8). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.865976 ms (missed cycles : 8).[0m ×2 + 11.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 11.94sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 11.95sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 11.95sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 12.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 12.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 13.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 13.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 13.92sINFOobjective_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 + 13.93sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 13.93sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 13.94sERRORobjective_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: 1788970979.09096813 seconds ×3 + 14.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.51sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.57sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 14.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 14.77sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 14.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.78sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 14.78sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 15.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 16.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 16.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 54 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794049 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794049 ms (missed cycles : 6).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419553 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419553 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888425 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888425 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sERRORobjective_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: 1788971161.57837820 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511225 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511225 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.28sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.28sINFOobjective_server_nodecaller: ×4 + 3.28sINFOobjective_server_nodetype: 0 ×4 + 3.28sINFOobjective_server_nodename: "" ×4 + 3.28sINFOobjective_server_nodeinstance_id: "" ×4 + 3.28sINFOobjective_server_node ×4 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788971162.17780423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.64sINFOros2_control_node[2026-09-09 16:26:02.482] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-09 16:26:02.482] [info] Accepted new action goal ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351564 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351564 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654421 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654421 ms (missed cycles : 5).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506149 ms (missed cycles : 4). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.506149 ms (missed cycles : 4).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007508 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007508 ms (missed cycles : 2).[0m ×2 + 7.65sINFOros2_control_node[2026-09-09 16:26:06.492] [info] Received new action goal ×2 + 7.65sINFOros2_control_node[2026-09-09 16:26:06.492] [info] Accepted new action goal ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784163 ms (missed cycles : 5). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.784163 ms (missed cycles : 5).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990594 ms (missed cycles : 6). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.990594 ms (missed cycles : 6).[0m ×2 + 9.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566673 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566673 ms (missed cycles : 3).[0m ×2 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243497 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243497 ms (missed cycles : 2).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831767 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831767 ms (missed cycles : 2).[0m ×2 + 13.23sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788971172.07571912 seconds ×3 + 13.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.78sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613588 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613588 ms (missed cycles : 4).[0m ×2 + 13.84sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788971172.68396688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 13.97sINFOros2_control_node[2026-09-09 16:26:12.818] [info] Received new action goal ×2 + 13.97sINFOros2_control_node[2026-09-09 16:26:12.818] [info] Accepted new action goal ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558102 ms (missed cycles : 3). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558102 ms (missed cycles : 3).[0m ×2 + 15.78sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676918 ms (missed cycles : 4). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676918 ms (missed cycles : 4).[0m ×2 + 15.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.45sWARNros2_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 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 5.0s | 3 errors · 38 warnings · 213 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1788971195.58876562 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.62sINFOobjective_server_nodecaller: ×8 + 3.62sINFOobjective_server_nodetype: 0 ×8 + 3.62sINFOobjective_server_nodename: "" ×8 + 3.62sINFOobjective_server_nodeinstance_id: "" ×8 + 3.62sINFOobjective_server_node ×8 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971196.21867919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5).[0m ×2 + 8.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971200.57883239 seconds ×3 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4).[0m ×2 + 8.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.58sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 8.63sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971201.17502880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 8.64sINFOobjective_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 + 8.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 8.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971201.17709613 seconds ×3 + 9.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.19sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 9.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971201.78236794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.25sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971201.79301786 seconds ×3 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2).[0m ×2 + 9.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.80sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 9.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971202.38837123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5).[0m ×2 + 11.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971203.85854101 seconds ×3 + 11.36sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2). | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 205 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5).[0m ×2 + 1.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971013.16039944 seconds ×3 + 1.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.59sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.13sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.13sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.13sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.13sINFOobjective_server_nodecaller: ×6 + 2.13sINFOobjective_server_nodetype: 0 ×6 + 2.13sINFOobjective_server_nodename: "" ×6 + 2.13sINFOobjective_server_nodeinstance_id: "" ×6 + 2.13sINFOobjective_server_node ×6 + 2.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971013.74907017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3).[0m ×2 + 2.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.23sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971013.81960177 seconds ×3 + 2.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.04sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 3.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.17sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 6.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 6.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.87sINFOobjective_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 + 6.88sINFOobjective_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 + 7.16sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 7.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.21sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 7.21sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 7.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 39 warnings · 688 info |
+ 0.00sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.10sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.10sWARNros2_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 + 0.10sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.10sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 0.10sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 0.10sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 0.10sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 0.10sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 0.10sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 0.10sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 0.10sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 0.10sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 0.10sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.10sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 0.10sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.10sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 0.10sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.10sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.10sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 0.10sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.10sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 0.10sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 0.10sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.10sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.10sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.10sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.10sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.10sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.10sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.10sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.11sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.11sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.11sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.11sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.12sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.12sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879832 ms (missed cycles : 2). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879832 ms (missed cycles : 2).[0m ×2 + 0.16sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.16sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.16sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.16sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.17sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.17sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.17sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.17sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.18sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.18sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.18sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.34sINFOcomponent_container_mt[2026-09-09 16:22:04.830] [moveit_pro_license] [info] ×2 + 0.34sINFOcomponent_container_mt************************************************* ×4 + 0.34sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.34sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.45sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.45sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.45sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.45sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.51sINFOros2-5process has finished cleanly [pid 7284] ×2 + 0.56sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.56sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.60sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.60sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:05.091] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:05.091] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.67sINFOros2_control_node[2026-09-09 16:22:05.160] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.67sINFOros2_control_node[2026-09-09 16:22:05.160] [info] Controller state will be published at 50 Hz. ×2 + 0.67sINFOros2_control_node[2026-09-09 16:22:05.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.68sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5), renderer 'llvmpipe (LLVM 20.1.2, 256 bits)', via platform device 0 (software).[0m ×2 + 0.68sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 0.68sWARNros2_control_nodeMuJoCo camera rendering is using software rasterizer 'llvmpipe (LLVM 20.1.2, 256 bits)'. Camera images will be produced substantially slower than on a GPU, which surfaces downstream as camera topics missing their publish rate.[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.96sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.96sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.01sINFOros2-6process has finished cleanly [pid 7285] ×2 + 1.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376115 ms (missed cycles : 5). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376115 ms (missed cycles : 5).[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.35sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.35sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 1.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 1.40sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.40sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.40sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.40sINFOros2-4process has finished cleanly [pid 7283] ×2 + 1.40sINFOforce_torque_sensor_broadcasterconfigure successful + 1.40sINFOros2_control_nodeconfigure successful[0m ×2 + 1.41sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.41sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.41sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.41sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.69sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.69sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.69sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.69sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.69sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 1.69sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 1.70sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.70sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.73sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.73sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.74sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.74sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.74sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.74sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.75sINFOros2-2process has finished cleanly [pid 7270] ×2 + 1.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.08sINFOros2-3process has finished cleanly [pid 7271] ×2 + 2.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 2.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 2.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-09-09 16:22:06.666] [info] Controller state will be published at 20 Hz. ×2 + 2.18sINFOros2_control_node[2026-09-09 16:22:06.667] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 2.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2).[0m ×2 + 2.44sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.51sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.51sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.51sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.51sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.55sINFOros2-8process has finished cleanly [pid 7287] ×2 + 2.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 2.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 2.61sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.61sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.61sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.64sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 2.64sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.79sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.79sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.79sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.79sINFOobjective_server_nodecaller: ×14 + 2.79sINFOobjective_server_nodetype: 0 ×14 + 2.79sINFOobjective_server_nodename: "" ×14 + 2.79sINFOobjective_server_nodeinstance_id: "" ×14 + 2.79sINFOobjective_server_node ×14 + 2.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 3.03sINFOros2-7process has finished cleanly [pid 7286] ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.44sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 4.47sWARNros2_control_nodeCamera render tick took 1.90 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 + 4.55sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.17sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 5.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.83sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.90sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 6.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.45sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.50sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 7.01sWARNros2_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 + 7.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.29sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 7.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.93sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.00sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.01sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.13sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 8.13sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:22:44.440] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:22:44.440] [info] Accepted new action goal ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.84sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.85sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.85sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 3.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.69sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.69sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.69sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.69sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.69sINFOobjective_server_nodecaller: ×4 + 3.69sINFOobjective_server_nodetype: 0 ×4 + 3.69sINFOobjective_server_nodename: "" ×4 + 3.69sINFOobjective_server_nodeinstance_id: "" ×4 + 3.69sINFOobjective_server_node ×4 + 3.77sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 4.44sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.44sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.60sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.62sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[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 3.296436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 1.44sWARNros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 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 + 3.11sERRORobjective_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: 1788971183.08436942 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ 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 1.837430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837430 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1788970953.68622184 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 490 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_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-2process has finished cleanly [pid 7270] ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7271] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.666] [info] Controller state will be published at 20 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.667] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2).[0m ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-8process has finished cleanly [pid 7287] ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.10sINFOobjective_server_nodecaller: ×14 + 1.10sINFOobjective_server_nodetype: 0 ×14 + 1.10sINFOobjective_server_nodename: "" ×14 + 1.10sINFOobjective_server_nodeinstance_id: "" ×14 + 1.10sINFOobjective_server_node ×14 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 1.34sINFOros2-7process has finished cleanly [pid 7286] ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 2.79sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985991 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971013.16039944 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971013.74907017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3).[0m ×2 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971013.81960177 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.17sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 0.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2).[0m ×2 + 2.08sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.09sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788971183.08436942 seconds ×3 + 2.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.14sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.68sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.68sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.68sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.68sINFOobjective_server_nodecaller: ×6 + 2.68sINFOobjective_server_nodetype: 0 ×6 + 2.68sINFOobjective_server_nodename: "" ×6 + 2.68sINFOobjective_server_nodeinstance_id: "" ×6 + 2.68sINFOobjective_server_node ×6 + 2.74sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.80sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.81sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.41sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 4.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.10sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.29sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 5.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 23 warnings · 159 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971200.57883239 seconds ×3 + 2.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.04sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4).[0m ×2 + 2.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.57sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.57sINFOobjective_server_nodecaller: ×6 + 2.57sINFOobjective_server_nodetype: 0 ×6 + 2.57sINFOobjective_server_nodename: "" ×6 + 2.57sINFOobjective_server_nodeinstance_id: "" ×6 + 2.57sINFOobjective_server_node ×6 + 2.62sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971201.17502880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.62sINFOobjective_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 + 2.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971201.17709613 seconds ×3 + 3.18sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.18sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.23sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971201.78236794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971201.79301786 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2).[0m ×2 + 3.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.79sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 3.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971202.38837123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5).[0m ×2 + 5.31sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971203.85854101 seconds ×3 + 5.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 26 warnings · 159 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2).[0m ×2 + 0.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.911520 ms (missed cycles : 5).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971200.57883239 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015718 ms (missed cycles : 4).[0m ×2 + 3.54sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.54sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.54sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.54sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.54sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.54sINFOobjective_server_nodecaller: ×6 + 3.54sINFOobjective_server_nodetype: 0 ×6 + 3.54sINFOobjective_server_nodename: "" ×6 + 3.54sINFOobjective_server_nodeinstance_id: "" ×6 + 3.54sINFOobjective_server_node ×6 + 3.59sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971201.17502880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.59sINFOobjective_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 + 3.60sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.60sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971201.17709613 seconds ×3 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.20sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971201.78236794 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971201.79301786 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315875 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971202.38837123 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.107083 ms (missed cycles : 5).[0m ×2 + 6.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971203.85854101 seconds ×3 + 6.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.506692 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.1s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_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 + 1.50sERRORobjective_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: 1788970953.68622184 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.05sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.06sINFOobjective_server_nodecaller: ×4 + 2.06sINFOobjective_server_nodetype: 0 ×4 + 2.06sINFOobjective_server_nodename: "" ×4 + 2.06sINFOobjective_server_nodeinstance_id: "" ×4 + 2.06sINFOobjective_server_node ×4 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756199 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756199 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[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 1.837430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837430 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1788970953.68622184 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 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 1.837430 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.837430 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 2.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `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: 1788970953.68622184 seconds ×3 + 2.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.55sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.09sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 3.09sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.09sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.09sINFOobjective_server_nodecaller: ×4 + 3.09sINFOobjective_server_nodetype: 0 ×4 + 3.09sINFOobjective_server_nodename: "" ×4 + 3.09sINFOobjective_server_nodeinstance_id: "" ×4 + 3.09sINFOobjective_server_node ×4 + 3.14sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 3.42sWARNros2_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 + 3.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.83sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_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 + 1.50sERRORobjective_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: 1788970953.68622184 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.05sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.06sINFOobjective_server_nodecaller: ×4 + 2.06sINFOobjective_server_nodetype: 0 ×4 + 2.06sINFOobjective_server_nodename: "" ×4 + 2.06sINFOobjective_server_nodeinstance_id: "" ×4 + 2.06sINFOobjective_server_node ×4 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_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 + 1.50sERRORobjective_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: 1788970953.68622184 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.05sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.06sINFOobjective_server_nodecaller: ×4 + 2.06sINFOobjective_server_nodetype: 0 ×4 + 2.06sINFOobjective_server_nodename: "" ×4 + 2.06sINFOobjective_server_nodeinstance_id: "" ×4 + 2.06sINFOobjective_server_node ×4 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.914341 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.728540 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_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 + 1.50sERRORobjective_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: 1788970953.68622184 seconds ×3 + 1.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.05sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.05sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.05sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.06sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.06sINFOobjective_server_nodecaller: ×4 + 2.06sINFOobjective_server_nodetype: 0 ×4 + 2.06sINFOobjective_server_nodename: "" ×4 + 2.06sINFOobjective_server_nodeinstance_id: "" ×4 + 2.06sINFOobjective_server_node ×4 + 2.11sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788970954.28803563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788970954.36817122 seconds ×3 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797307 ms (missed cycles : 2).[0m ×2 + 2.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.79sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 2.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788970955.02321029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.03sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Received new action goal ×2 + 3.05sINFOros2_control_node[2026-09-09 16:22:35.227] [info] Accepted new action goal ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931604 ms (missed cycles : 2).[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459840 ms (missed cycles : 3).[0m ×2 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096455 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.618208 ms (missed cycles : 3).[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.190568 ms (missed cycles : 7).[0m ×2 + 1.13sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Received new action goal ×2 + 1.14sINFOros2_control_node[2026-09-09 16:22:46.291] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.251291 ms (missed cycles : 5).[0m ×2 + 2.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788970967.58824301 seconds ×3 + 2.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.45sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.45sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.97sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.97sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.97sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.97sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.97sINFOobjective_server_nodecaller: ×4 + 2.97sINFOobjective_server_nodetype: 0 ×4 + 2.97sINFOobjective_server_nodename: "" ×4 + 2.97sINFOobjective_server_nodeinstance_id: "" ×4 + 2.97sINFOobjective_server_node ×4 + 3.05sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788970968.20766711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775480 ms (missed cycles : 2).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788970968.28781199 seconds ×3 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788970968.93790460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.89sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-09-09 16:22:49.062] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.815326 ms (missed cycles : 2).[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100625 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.160459 ms (missed cycles : 4).[0m ×2 + 0.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Received new action goal ×2 + 0.60sINFOros2_control_node[2026-09-09 16:22:57.099] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254616 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683567 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Got request to cancel active goal. ×2 + 2.58sINFOros2_control_node[2026-09-09 16:22:59.078] [info] Canceling active goal... ×2 + 2.59sERRORobjective_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: 1788970979.09096813 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.63sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.16sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.16sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.16sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.16sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.16sINFOobjective_server_nodecaller: ×2 + 3.16sINFOobjective_server_nodetype: 0 ×2 + 3.16sINFOobjective_server_nodename: "" ×2 + 3.16sINFOobjective_server_nodeinstance_id: "" ×2 + 3.16sINFOobjective_server_node ×2 + 3.23sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788970979.72657728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.829384 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeFound path in 0 iterations (2.84e-07 s). ×2 + 3.42sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Received new action goal ×2 + 3.43sINFOros2_control_node[2026-09-09 16:22:59.930] [info] Accepted new action goal ×2 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.410126 ms (missed cycles : 6).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158862 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 101 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.02sINFOobjective_server_nodeFound path in 0 iterations (2.54e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00338191 s). ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775087 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775087 ms (missed cycles : 5).[0m ×2 + 0.31sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 0.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOros2_control_node[2026-09-09 16:23:18.996] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:23:18.996] [info] Accepted new action goal ×2 + 0.82sINFOros2_control_node[2026-09-09 16:23:19.428] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-09-09 16:23:19.428] [info] Accepted new action goal ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626918 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626918 ms (missed cycles : 3).[0m ×2 + 2.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602788 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.602788 ms (missed cycles : 4).[0m ×2 + 2.47sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.47sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.47sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.47sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.47sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.50sERRORobjective_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: 1788971001.10372281 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.19sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.19sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.19sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.19sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.19sINFOobjective_server_nodecaller: ×2 + 3.19sINFOobjective_server_nodetype: 0 ×2 + 3.19sINFOobjective_server_nodename: "" ×2 + 3.19sINFOobjective_server_nodeinstance_id: "" ×2 + 3.19sINFOobjective_server_node ×2 + 3.30sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788971001.90563011 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:23:22.079] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:23:22.079] [info] Accepted new action goal ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584747 ms (missed cycles : 4). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584747 ms (missed cycles : 4).[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026557 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.026557 ms (missed cycles : 5).[0m ×2 + 4.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991934 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.991934 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2_control_node[2026-09-09 16:23:24.588] [info] Received new action goal ×2 + 5.98sINFOros2_control_node[2026-09-09 16:23:24.588] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985991 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985991 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.707872 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.488580 ms (missed cycles : 5).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971013.16039944 seconds ×3 + 2.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.60sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.13sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 3.13sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.13sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.13sINFOobjective_server_nodecaller: ×4 + 3.13sINFOobjective_server_nodetype: 0 ×4 + 3.13sINFOobjective_server_nodename: "" ×4 + 3.13sINFOobjective_server_nodeinstance_id: "" ×4 + 3.13sINFOobjective_server_node ×4 + 3.18sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971013.74907017 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805562 ms (missed cycles : 3).[0m ×2 + 3.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.24sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971013.81960177 seconds ×3 + 3.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 4.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.17sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 6.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 103 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.06sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971014.61435318 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (6.61e-07 s). ×2 + 0.17sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:23:34.740] [info] Accepted new action goal ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698149 ms (missed cycles : 2).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127953 ms (missed cycles : 4).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971016.74449563 seconds ×3 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282313 ms (missed cycles : 2).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.155988 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971018.36661482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.89sINFOobjective_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 + 3.90sINFOobjective_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 + 4.17sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Received new action goal ×2 + 4.23sINFOros2_control_node[2026-09-09 16:23:38.784] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312950 ms (missed cycles : 5).[0m ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.548722 ms (missed cycles : 9).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312062 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475647 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475647 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937211 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937211 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754220 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754220 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788971072.91347575 seconds ×3 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.17sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.38 s); wrist_camera (1.38 s). The render path has stopped producing new frames for them.[0m ×2 + 2.75sINFOobjective_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: ""
+ 2.75sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 2.75sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 2.75sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 2.75sINFOobjective_server_nodeparameter_overrides: [] ×2 + 2.75sINFOobjective_server_nodecaller: ×2 + 2.75sINFOobjective_server_nodetype: 0 ×2 + 2.75sINFOobjective_server_nodename: "" ×2 + 2.75sINFOobjective_server_nodeinstance_id: "" ×2 + 2.75sINFOobjective_server_node ×2 + 2.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971073.57011795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.98sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 2.98sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.99sINFOros2_control_node[2026-09-09 16:24:33.744] [info] Received new action goal ×2 + 2.99sINFOros2_control_node[2026-09-09 16:24:33.744] [info] Accepted new action goal ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676408 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676408 ms (missed cycles : 2).[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848991 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848991 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.27sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.33sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.33sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.33sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909344 ms (missed cycles : 2). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.909344 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 23 warnings · 2056 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×328 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×656 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×656 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 23 warnings · 2056 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×328 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×656 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×656 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 23 warnings · 2056 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×328 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×656 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×656 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 2056 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×328 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×656 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×656 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2056 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×328 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×328 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×656 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×656 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.690001 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847693 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723242 ms (missed cycles : 2).[0m ×2 + 3.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.55 s); wrist_camera (1.55 s). The render path has stopped producing new frames for them.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301477 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971139.59585643 seconds ×3 + 3.25sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.25sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.26sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.85sINFOobjective_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: ""
+ 3.85sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.85sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.85sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.85sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.85sINFOobjective_server_nodecaller: ×2 + 3.85sINFOobjective_server_nodetype: 0 ×2 + 3.85sINFOobjective_server_nodename: "" ×2 + 3.85sINFOobjective_server_nodeinstance_id: "" ×2 + 3.85sINFOobjective_server_node ×2 + 3.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971140.28447151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Received new action goal ×2 + 4.14sINFOros2_control_node[2026-09-09 16:25:40.488] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.434547 ms (missed cycles : 2).[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153699 ms (missed cycles : 4).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.617660 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.353303 ms (missed cycles : 7).[0m ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Received new action goal ×2 + 0.33sINFOros2_control_node[2026-09-09 16:25:47.695] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.116656 ms (missed cycles : 4).[0m ×2 + 1.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.15sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Received new action goal ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4). + 2.16sINFOros2_control_node[2026-09-09 16:25:49.530] [info] Accepted new action goal ×2 + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.357694 ms (missed cycles : 4).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.944421 ms (missed cycles : 8).[0m ×2 + 3.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Got request to cancel active goal. ×2 + 3.22sINFOros2_control_node[2026-09-09 16:25:50.584] [info] Canceling active goal... ×2 + 3.22sERRORobjective_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: 1788971150.59218884 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sWARNros2_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 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.80sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.80sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.80sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.80sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.80sINFOobjective_server_nodecaller: ×2 + 3.80sINFOobjective_server_nodetype: 0 ×2 + 3.80sINFOobjective_server_nodename: "" ×2 + 3.80sINFOobjective_server_nodeinstance_id: "" ×2 + 3.80sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971151.25779486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-09-09 16:25:51.452] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149287 ms (missed cycles : 2).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.270328 ms (missed cycles : 4).[0m ×2 + 6.00sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913565 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794049 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794049 ms (missed cycles : 6).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419553 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419553 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888425 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888425 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.73sERRORobjective_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: 1788971161.57837820 seconds ×3 + 2.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.74sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511225 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511225 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.28sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.28sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.28sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.28sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.28sINFOobjective_server_nodecaller: ×2 + 3.28sINFOobjective_server_nodetype: 0 ×2 + 3.28sINFOobjective_server_nodename: "" ×2 + 3.28sINFOobjective_server_nodeinstance_id: "" ×2 + 3.28sINFOobjective_server_node ×2 + 3.33sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788971162.17780423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.39e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.64sINFOros2_control_node[2026-09-09 16:26:02.482] [info] Received new action goal ×2 + 3.64sINFOros2_control_node[2026-09-09 16:26:02.482] [info] Accepted new action goal ×2 + 3.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351564 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351564 ms (missed cycles : 4).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654421 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.654421 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 20 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566673 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566673 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243497 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243497 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831767 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831767 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788971172.07571912 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.22sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.22sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.22sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.22sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.22sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.22sINFOobjective_server_nodecaller: ×2 + 3.22sINFOobjective_server_nodetype: 0 ×2 + 3.22sINFOobjective_server_nodename: "" ×2 + 3.22sINFOobjective_server_nodeinstance_id: "" ×2 + 3.22sINFOobjective_server_node ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613588 ms (missed cycles : 4). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613588 ms (missed cycles : 4).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788971172.68396688 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 3.41sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.42sINFOros2_control_node[2026-09-09 16:26:12.818] [info] Received new action goal ×2 + 3.42sINFOros2_control_node[2026-09-09 16:26:12.818] [info] Accepted new action goal ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558102 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558102 ms (missed cycles : 3).[0m ×2 + 5.23sINFOros2_control_nodeMuJoCo sim: 0.68% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676918 ms (missed cycles : 4). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.676918 ms (missed cycles : 4).[0m ×2 + 5.33sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.90sWARNros2_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 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 1.44sWARNros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 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 + 3.11sERRORobjective_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: 1788971183.08436942 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 1.44sWARNros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 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 + 3.11sERRORobjective_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: 1788971183.08436942 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 1.44sWARNros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 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 + 3.11sERRORobjective_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: 1788971183.08436942 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296436 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291904 ms (missed cycles : 2).[0m ×2 + 1.44sWARNros2_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 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 + 3.11sERRORobjective_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: 1788971183.08436942 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.17sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 3.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.70sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.70sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.70sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.70sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.70sINFOobjective_server_nodecaller: ×6 + 3.70sINFOobjective_server_nodetype: 0 ×6 + 3.70sINFOobjective_server_nodename: "" ×6 + 3.70sINFOobjective_server_nodeinstance_id: "" ×6 + 3.70sINFOobjective_server_node ×6 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 4.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.44sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 5.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.12sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 5.31sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_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 + 1.67sERRORobjective_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: 1788971183.08436942 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.27sINFOobjective_server_nodecaller: ×6 + 2.27sINFOobjective_server_nodetype: 0 ×6 + 2.27sINFOobjective_server_nodename: "" ×6 + 2.27sINFOobjective_server_nodeinstance_id: "" ×6 + 2.27sINFOobjective_server_node ×6 + 2.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_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 + 1.67sERRORobjective_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: 1788971183.08436942 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.27sINFOobjective_server_nodecaller: ×6 + 2.27sINFOobjective_server_nodetype: 0 ×6 + 2.27sINFOobjective_server_nodename: "" ×6 + 2.27sINFOobjective_server_nodeinstance_id: "" ×6 + 2.27sINFOobjective_server_node ×6 + 2.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.xml | 0.0s | 3 errors · 22 warnings · 191 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877829 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_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 + 1.67sERRORobjective_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: 1788971183.08436942 seconds ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5). + 1.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.908209 ms (missed cycles : 5).[0m ×2 + 2.27sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.27sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.27sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.27sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.27sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.27sINFOobjective_server_nodecaller: ×6 + 2.27sINFOobjective_server_nodetype: 0 ×6 + 2.27sINFOobjective_server_nodename: "" ×6 + 2.27sINFOobjective_server_nodeinstance_id: "" ×6 + 2.27sINFOobjective_server_node ×6 + 2.32sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971183.73582935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.39sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.39sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971183.81597447 seconds ×3 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096142 ms (missed cycles : 2).[0m ×2 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.00sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971184.41242671 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOobjective_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 + 3.02sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971184.43525243 seconds ×3 + 3.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.68sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 3.75sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971185.16406131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.87sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 3.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Received new action goal ×2 + 3.88sINFOros2_control_node[2026-09-09 16:26:25.288] [info] Accepted new action goal ×2 + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.634008 ms (missed cycles : 3).[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724869 ms (missed cycles : 2).[0m ×2 + 5.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805533 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 22 warnings · 54 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1788971195.58876562 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971196.21867919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 22 warnings · 54 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270277 ms (missed cycles : 4).[0m ×2 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.941090 ms (missed cycles : 8).[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956394 ms (missed cycles : 3).[0m ×2 + 3.04sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Got request to cancel active goal. ×2 + 3.04sINFOros2_control_node[2026-09-09 16:26:35.584] [info] Canceling active goal... ×2 + 3.05sERRORobjective_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: 1788971195.58876562 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.62sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.62sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.62sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.62sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.62sINFOobjective_server_nodecaller: ×2 + 3.62sINFOobjective_server_nodetype: 0 ×2 + 3.62sINFOobjective_server_nodename: "" ×2 + 3.62sINFOobjective_server_nodeinstance_id: "" ×2 + 3.62sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971196.21867919 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521758 ms (missed cycles : 6).[0m ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756033 ms (missed cycles : 2).[0m ×2 + 6.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.952338 ms (missed cycles : 6).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 7.2s | 43 warnings · 749 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-09-16-22-00-141950-eb992eee8d65-7221 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280587 ms (missed cycles : 3). + 0.90sINFOros2_control_node-1process started with pid [7269] ×2 + 0.91sINFOmove_group-9process started with pid [7320] ×2 + 0.91sINFOparameter_manager_node-10process started with pid [7321] ×2 + 0.91sINFOwaypoint_manager_node-11process started with pid [7322] ×2 + 0.91sINFOmove_joint_resampler_node-12process started with pid [7323] ×2 + 0.91sINFOmove_end_effector_resampler_node-13process started with pid [7324] ×2 + 0.91sINFOobjective_server_node_main-14process started with pid [7325] ×2 + 0.91sINFOcomponent_container_mt-15process started with pid [7326] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [7327] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [7328] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [7329] ×2 + 0.91sINFOweb_bridge-19process started with pid [7330] ×2 + 0.91sINFOtf2_web_republisher_node-20process started with pid [7396] ×2 + 0.91sINFOvideo_server-21process started with pid [7398] ×2 + 0.91sINFOweb_bridge_auth_proxy-22process started with pid [7400] ×2 + 0.91sINFOweb_video_auth_proxy-23process started with pid [7401] ×2 + 0.91sINFOros2-2process started with pid [7270] ×2 + 0.91sINFOros2-3process started with pid [7271] ×2 + 0.91sINFOros2-4process started with pid [7283] ×2 + 0.91sINFOros2-5process started with pid [7284] ×2 + 0.91sINFOros2-6process started with pid [7285] ×2 + 0.91sINFOros2-7process started with pid [7286] ×2 + 0.91sINFOros2-8process started with pid [7287] ×2 + 0.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.94sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.94sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.94sWARNros2_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 + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280587 ms (missed cycles : 3).[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 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOvideo_server2026/09/09 16:22:01 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/09/09 16:22:01 INF configuration loaded from /tmp/moveit-webrtc-ado_43_7/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/09/09 16:22:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/09/09 16:22:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.56sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-09 16:22:02.378] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509866 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509866 ms (missed cycles : 3).[0m ×2 + 2.13sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.13sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.13sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.15sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.15sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOmove_group ×4 + 2.26sINFOmove_group[92mYou can start planning now![0m ×2 + 2.42sINFOwaypoint_manager_node[2026-09-09 16:22:02.957] [moveit_pro_license] [info] ×2 + 2.42sINFOwaypoint_manager_node************************************************* ×4 + 2.42sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.42sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOobjective_server_node[2026-09-09 16:22:03.948] [moveit_pro_license] [info] ×2 + 3.41sINFOobjective_server_node************************************************* ×4 + 3.41sINFOobjective_server_node* MoveIt Pro License ×2 + 3.41sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.54sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×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 + 3.95sWARNobjective_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 + 4.05sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.05sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 4.06sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 4.06sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.06sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 4.06sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 4.06sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 4.06sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 4.06sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 4.06sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 4.06sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.06sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 4.06sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.06sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 4.06sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.06sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 4.06sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 4.06sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.06sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.06sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.06sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.06sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.07sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.07sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.07sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.07sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.07sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 4.08sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879832 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879832 ms (missed cycles : 2).[0m ×2 + 4.12sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.12sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.12sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.12sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.12sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.12sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.12sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.12sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.12sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.12sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.13sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.13sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.13sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.13sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.13sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.29sINFOcomponent_container_mt[2026-09-09 16:22:04.830] [moveit_pro_license] [info] ×2 + 4.29sINFOcomponent_container_mt************************************************* ×4 + 4.29sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.29sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.41sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.41sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.41sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.47sINFOros2-5process has finished cleanly [pid 7284] ×2 + 4.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 4.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 4.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.55sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.55sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.55sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.55sINFOros2_control_node[2026-09-09 16:22:05.091] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.55sINFOros2_control_node[2026-09-09 16:22:05.091] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.60sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.62sINFOros2_control_node[2026-09-09 16:22:05.160] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.62sINFOros2_control_node[2026-09-09 16:22:05.160] [info] Controller state will be published at 50 Hz. ×2 + 4.63sINFOros2_control_node[2026-09-09 16:22:05.166] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.63sINFOros2_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 + 4.63sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.63sWARNros2_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 + 4.91sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.91sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.91sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.91sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 4.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 4.95sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.95sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.95sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.95sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.95sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.95sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.96sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.96sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.96sINFOros2-6process has finished cleanly [pid 7285] ×2 + 4.97sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376115 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.376115 ms (missed cycles : 5).[0m ×2 + 5.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 5.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 5.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.36sINFOros2-4process has finished cleanly [pid 7283] ×2 + 5.36sINFOforce_torque_sensor_broadcasterconfigure successful + 5.36sINFOros2_control_nodeconfigure successful[0m ×2 + 5.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.36sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.36sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.64sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.64sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.64sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.64sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.64sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 5.64sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 5.66sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.66sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.69sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.69sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.70sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.70sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.70sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.70sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.70sINFOros2-2process has finished cleanly [pid 7270] ×2 + 5.71sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.71sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.96sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.99sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.99sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.99sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.99sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.03sINFOros2-3process has finished cleanly [pid 7271] ×2 + 6.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 6.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 6.09sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.09sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.09sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.09sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.09sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 6.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 6.09sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.09sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.13sINFOros2_control_node[2026-09-09 16:22:06.666] [info] Controller state will be published at 20 Hz. ×2 + 6.13sINFOros2_control_node[2026-09-09 16:22:06.667] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 6.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 6.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 6.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2).[0m ×2 + 6.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.46sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.46sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.46sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.46sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.50sINFOros2-8process has finished cleanly [pid 7287] ×2 + 6.53sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 6.53sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 6.56sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.56sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.56sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.56sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.59sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 6.59sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.74sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 6.74sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 6.74sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 6.74sINFOobjective_server_nodeparameter_overrides: [] ×10 + 6.74sINFOobjective_server_nodecaller: ×10 + 6.74sINFOobjective_server_nodetype: 0 ×10 + 6.74sINFOobjective_server_nodename: "" ×10 + 6.74sINFOobjective_server_nodeinstance_id: "" ×10 + 6.74sINFOobjective_server_node ×10 + 6.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 6.98sINFOros2-7process has finished cleanly [pid 7286] ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 7.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.34sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 7.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 8.43sWARNros2_control_nodeCamera render tick took 1.90 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 + 8.50sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 9.07sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.07sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 9.12sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.18sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 9.79sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 9.79sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 9.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 10.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.40sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 10.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 10.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 349 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7286] ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.36sINFOobjective_server_nodecaller: ×12 + 0.36sINFOobjective_server_nodetype: 0 ×12 + 0.36sINFOobjective_server_nodename: "" ×12 + 0.36sINFOobjective_server_nodeinstance_id: "" ×12 + 0.36sINFOobjective_server_node ×12 + 0.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 1.44sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 3.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.11sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 7.10sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.60sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.61sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 408 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.11sINFOros2-8process has finished cleanly [pid 7287] ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.34sINFOobjective_server_nodecaller: ×14 + 0.34sINFOobjective_server_nodetype: 0 ×14 + 0.34sINFOobjective_server_nodename: "" ×14 + 0.34sINFOobjective_server_nodeinstance_id: "" ×14 + 0.34sINFOobjective_server_node ×14 + 0.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.59sINFOros2-7process has finished cleanly [pid 7286] ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 186 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-09-09-16-22-00-141950-eb992eee8d65-7221 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.61sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.62sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.62sINFOcontroller_managerupdate rate is 600 Hz + 0.62sINFOcontroller_managerOverruns handling is : enabled + 0.62sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.62sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280587 ms (missed cycles : 3). + 0.90sINFOros2_control_node-1process started with pid [7269] ×2 + 0.91sINFOmove_group-9process started with pid [7320] ×2 + 0.91sINFOparameter_manager_node-10process started with pid [7321] ×2 + 0.91sINFOwaypoint_manager_node-11process started with pid [7322] ×2 + 0.91sINFOmove_joint_resampler_node-12process started with pid [7323] ×2 + 0.91sINFOmove_end_effector_resampler_node-13process started with pid [7324] ×2 + 0.91sINFOobjective_server_node_main-14process started with pid [7325] ×2 + 0.91sINFOcomponent_container_mt-15process started with pid [7326] ×2 + 0.91sINFOcomponent_container_mt-16process started with pid [7327] ×2 + 0.91sINFOexecute_objective_bridge-17process started with pid [7328] ×2 + 0.91sINFOui_teleop_bridge-18process started with pid [7329] ×2 + 0.91sINFOweb_bridge-19process started with pid [7330] ×2 + 0.91sINFOtf2_web_republisher_node-20process started with pid [7396] ×2 + 0.91sINFOvideo_server-21process started with pid [7398] ×2 + 0.91sINFOweb_bridge_auth_proxy-22process started with pid [7400] ×2 + 0.91sINFOweb_video_auth_proxy-23process started with pid [7401] ×2 + 0.91sINFOros2-2process started with pid [7270] ×2 + 0.91sINFOros2-3process started with pid [7271] ×2 + 0.91sINFOros2-4process started with pid [7283] ×2 + 0.91sINFOros2-5process started with pid [7284] ×2 + 0.91sINFOros2-6process started with pid [7285] ×2 + 0.91sINFOros2-7process started with pid [7286] ×2 + 0.91sINFOros2-8process started with pid [7287] ×2 + 0.94sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.94sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.94sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.94sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.94sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.94sWARNros2_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 + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280587 ms (missed cycles : 3).[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 + 0.96sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.97sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.16sINFOvideo_server2026/09/09 16:22:01 INF MediaMTX v1.20.1, linux, amd64 ×2 + 1.17sINFOvideo_server2026/09/09 16:22:01 INF configuration loaded from /tmp/moveit-webrtc-ado_43_7/mediamtx.yml ×2 + 1.17sINFOvideo_server2026/09/09 16:22:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.17sINFOvideo_server2026/09/09 16:22:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.56sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.56sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.84sINFOmove_group[2026-09-09 16:22:02.378] [moveit_pro_license] [info] ×2 + 1.84sINFOmove_group************************************************* ×4 + 1.84sINFOmove_group* MoveIt Pro License ×2 + 1.84sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509866 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509866 ms (missed cycles : 3).[0m ×2 + 2.13sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.13sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.13sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.13sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.15sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 2.15sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 2.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.26sINFOmove_group ×4 + 2.26sINFOmove_group[92mYou can start planning now![0m ×2 + 2.42sINFOwaypoint_manager_node[2026-09-09 16:22:02.957] [moveit_pro_license] [info] ×2 + 2.42sINFOwaypoint_manager_node************************************************* ×4 + 2.42sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.42sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.53sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.41sINFOobjective_server_node[2026-09-09 16:22:03.948] [moveit_pro_license] [info] ×2 + 3.41sINFOobjective_server_node************************************************* ×4 + 3.41sINFOobjective_server_node* MoveIt Pro License ×2 + 3.41sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.53sINFOobjective_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 + 3.53sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.54sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.54sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×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 | 25 warnings · 490 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_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-2process has finished cleanly [pid 7270] ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7271] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.666] [info] Controller state will be published at 20 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.667] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2).[0m ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-8process has finished cleanly [pid 7287] ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.10sINFOobjective_server_nodecaller: ×14 + 1.10sINFOobjective_server_nodetype: 0 ×14 + 1.10sINFOobjective_server_nodename: "" ×14 + 1.10sINFOobjective_server_nodeinstance_id: "" ×14 + 1.10sINFOobjective_server_node ×14 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 1.34sINFOros2-7process has finished cleanly [pid 7286] ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 2.79sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 490 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_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-2process has finished cleanly [pid 7270] ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7271] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.666] [info] Controller state will be published at 20 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.667] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2).[0m ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-8process has finished cleanly [pid 7287] ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.10sINFOobjective_server_nodecaller: ×14 + 1.10sINFOobjective_server_nodetype: 0 ×14 + 1.10sINFOobjective_server_nodename: "" ×14 + 1.10sINFOobjective_server_nodeinstance_id: "" ×14 + 1.10sINFOobjective_server_node ×14 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 1.34sINFOros2-7process has finished cleanly [pid 7286] ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 2.79sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 490 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_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-2process has finished cleanly [pid 7270] ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.07sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.32sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.39sINFOros2-3process has finished cleanly [pid 7271] ×2 + 0.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.45sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.45sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.45sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.45sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.45sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.45sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.45sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.45sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.46sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.666] [info] Controller state will be published at 20 Hz. ×2 + 0.49sINFOros2_control_node[2026-09-09 16:22:06.667] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×8 + 0.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×16 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750811 ms (missed cycles : 2).[0m ×2 + 0.76sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.82sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.82sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.86sINFOros2-8process has finished cleanly [pid 7287] ×2 + 0.89sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.89sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.92sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.92sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 0.95sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.10sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.10sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.10sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.10sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.10sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.10sINFOobjective_server_nodecaller: ×14 + 1.10sINFOobjective_server_nodetype: 0 ×14 + 1.10sINFOobjective_server_nodename: "" ×14 + 1.10sINFOobjective_server_nodeinstance_id: "" ×14 + 1.10sINFOobjective_server_node ×14 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 1.34sINFOros2-7process has finished cleanly [pid 7286] ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 1.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.70sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 2.79sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 3.43sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.43sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.15sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.20sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 4.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.76sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 5.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.69sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.24sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.31sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_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 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 6.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 6.45sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 408 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.06sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.06sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.06sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.11sINFOros2-8process has finished cleanly [pid 7287] ×2 + 0.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela + 0.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_lq0k8ta2 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_3n5lgy57 --params-file /tmp/launch_params_5_mxdela [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.17sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.17sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.17sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.19sINFOros2_control_node[2026-09-09 16:22:07.128] [info] Controller state will be published at 10 Hz. ×2 + 0.20sINFOros2_control_node[2026-09-09 16:22:07.129] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.34sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.34sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.34sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.34sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.34sINFOobjective_server_nodecaller: ×14 + 0.34sINFOobjective_server_nodetype: 0 ×14 + 0.34sINFOobjective_server_nodename: "" ×14 + 0.34sINFOobjective_server_nodeinstance_id: "" ×14 + 0.34sINFOobjective_server_node ×14 + 0.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788970927.33034921 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788970927.34067297 seconds ×3 + 0.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.42sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.42sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.59sINFOros2-7process has finished cleanly [pid 7286] ×2 + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 0.94sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.94sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.99sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 2.68sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.68sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 4.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 4.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 5.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.49sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 7286] ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701004 ms (missed cycles : 2).[0m ×2 + 0.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.36sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.36sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.36sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.36sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.36sINFOobjective_server_nodecaller: ×12 + 0.36sINFOobjective_server_nodetype: 0 ×12 + 0.36sINFOobjective_server_nodename: "" ×12 + 0.36sINFOobjective_server_nodeinstance_id: "" ×12 + 0.36sINFOobjective_server_node ×12 + 0.41sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788970927.92789435 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 1.44sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.52sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 1.55sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.55sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.55sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.55sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.56sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.56sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.56sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 2.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.09sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.14sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 3.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 4.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.26sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.90sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.97sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.11sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 5.11sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765560 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765560 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705758 ms (missed cycles : 3).[0m ×2 + 0.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 0.10sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788970929.03809333 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.67sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.67sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.67sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.67sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.67sINFOobjective_server_nodecaller: ×10 + 0.67sINFOobjective_server_nodetype: 0 ×10 + 0.67sINFOobjective_server_nodename: "" ×10 + 0.67sINFOobjective_server_nodeinstance_id: "" ×10 + 0.68sINFOobjective_server_node ×10 + 0.72sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788970929.65937734 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788970929.71957469 seconds ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690516 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.39sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.44sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788970930.37375712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.46sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788970930.39389586 seconds ×3 + 2.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.00sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788970930.98701787 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997791 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788970931.13766265 seconds ×3 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.85sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.85sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 2.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788970931.83168483 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 2.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 2.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 2.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788970931.87182760 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211690 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.48sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788970932.48867917 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (3.2682e-05 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:22:12.625] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157470 ms (missed cycles : 5).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497120 ms (missed cycles : 3).[0m ×2 + 5.69sINFOros2_control_nodeMuJoCo sim: 0.79% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.18sINFOobjective_server_nodeFound path in 0 iterations (2.95e-07 s). ×2 + 6.19sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Received new action goal ×2 + 6.20sINFOros2_control_node[2026-09-09 16:22:15.133] [info] Accepted new action goal ×2 | ||||