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 | 163 warnings · 19644 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011697 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011697 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015926 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015926 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_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 + 2.93sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788971369.20687342 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×7 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858191 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858191 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.53sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.53sINFOobjective_server_nodecaller: ×4 + 3.53sINFOobjective_server_nodetype: 0 ×4 + 3.53sINFOobjective_server_nodename: "" ×4 + 3.53sINFOobjective_server_nodeinstance_id: "" ×4 + 3.53sINFOobjective_server_node ×4 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971369.86192870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X____X] ×4 + 3.76sINFOros2_control_node[2026-09-09 16:29:30.035] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-09 16:29:30.035] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522353 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522353 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179692 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179692 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265961 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265961 ms (missed cycles : 2).[0m ×2 + 7.27sINFOjoint_trajectory_controllerReceived new action goal ×3230 + 7.27sINFOjoint_trajectory_controllerAccepted new action goal ×3230 + 7.27sINFOros2_control_nodeReceived new action goal[0m ×6460 + 7.27sINFOros2_control_nodeAccepted new action goal[0m ×6460 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122124 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122124 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212165 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.212165 ms (missed cycles : 3).[0m ×2 + 9.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.54 s); wrist_camera (1.54 s). The render path has stopped producing new frames for them.[0m ×4 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751554 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751554 ms (missed cycles : 2).[0m ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725706 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725706 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875805 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875805 ms (missed cycles : 2).[0m ×2 + 12.13sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.13sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.13sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 12.13sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697527 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697527 ms (missed cycles : 2).[0m ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973279 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973279 ms (missed cycles : 2).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754740 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754740 ms (missed cycles : 2).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001845 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001845 ms (missed cycles : 2).[0m ×2 + 16.27sWARNros2_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 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221718 ms (missed cycles : 2). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221718 ms (missed cycles : 2).[0m ×2 + 18.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743040 ms (missed cycles : 2). + 18.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743040 ms (missed cycles : 2).[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651417 ms (missed cycles : 4). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.651417 ms (missed cycles : 4).[0m ×2 + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867176 ms (missed cycles : 2). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.867176 ms (missed cycles : 2).[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782821 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782821 ms (missed cycles : 2).[0m ×2 + 22.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159091 ms (missed cycles : 2). + 22.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159091 ms (missed cycles : 2).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353454 ms (missed cycles : 5). + 23.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353454 ms (missed cycles : 5).[0m ×2 + 24.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824156 ms (missed cycles : 2). + 24.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.824156 ms (missed cycles : 2).[0m ×2 + 25.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.764406 ms (missed cycles : 8). + 25.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.764406 ms (missed cycles : 8).[0m ×2 + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833792 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833792 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683499 ms (missed cycles : 2). + 27.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683499 ms (missed cycles : 2).[0m ×2 + 28.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037049 ms (missed cycles : 2). + 28.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.037049 ms (missed cycles : 2).[0m ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197332 ms (missed cycles : 2). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197332 ms (missed cycles : 2).[0m ×2 + 30.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 30.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430435 ms (missed cycles : 2). + 30.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.430435 ms (missed cycles : 2).[0m ×2 + 31.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171424 ms (missed cycles : 2). + 31.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171424 ms (missed cycles : 2).[0m ×2 + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599288 ms (missed cycles : 3). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599288 ms (missed cycles : 3).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542135 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542135 ms (missed cycles : 2).[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142445 ms (missed cycles : 2). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142445 ms (missed cycles : 2).[0m ×2 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.501231 ms (missed cycles : 6). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.501231 ms (missed cycles : 6).[0m ×2 + 36.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.59 s); wrist_camera (1.59 s). The render path has stopped producing new frames for them.[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073914 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073914 ms (missed cycles : 3).[0m ×2 + 37.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512380 ms (missed cycles : 6). + 37.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512380 ms (missed cycles : 6).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444507 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444507 ms (missed cycles : 2).[0m ×2 + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284587 ms (missed cycles : 3). + 39.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284587 ms (missed cycles : 3).[0m ×2 + 40.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701163 ms (missed cycles : 2). + 41.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701163 ms (missed cycles : 2).[0m ×2 + 41.03sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609873 ms (missed cycles : 2). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609873 ms (missed cycles : 2).[0m ×2 + 43.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890628 ms (missed cycles : 2). + 43.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890628 ms (missed cycles : 2).[0m ×2 + 43.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.52 s); wrist_camera (1.52 s). The render path has stopped producing new frames for them.[0m ×2 + 44.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669883 ms (missed cycles : 2). + 44.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669883 ms (missed cycles : 2).[0m ×2 + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748870 ms (missed cycles : 2). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748870 ms (missed cycles : 2).[0m ×2 + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529880 ms (missed cycles : 2). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529880 ms (missed cycles : 2).[0m ×2 + 47.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737497 ms (missed cycles : 2). + 47.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737497 ms (missed cycles : 2).[0m ×2 + 47.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971413.77193713 seconds ×3 + 47.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 47.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 47.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 48.05sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 48.13sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971414.40368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.18sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 48.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 48.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 48.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836697 ms (missed cycles : 2). + 48.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836697 ms (missed cycles : 2).[0m ×2 + 48.28sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 48.29sINFOros2_control_node[2026-09-09 16:30:14.557] [info] Received new action goal ×2 + 48.29sINFOros2_control_node[2026-09-09 16:30:14.557] [info] Accepted new action goal ×2 + 49.10sWARNros2_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 + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676987 ms (missed cycles : 3). + 49.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676987 ms (missed cycles : 3).[0m ×2 + 50.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475557 ms (missed cycles : 2). + 50.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475557 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.3s | 151 warnings · 342 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×6 + 0.00sINFOobjective_server_nodecaller: ×6 + 0.00sINFOobjective_server_nodetype: 0 ×6 + 0.00sINFOobjective_server_nodename: "" ×6 + 0.00sINFOobjective_server_nodeinstance_id: "" ×6 + 0.00sINFOobjective_server_node ×6 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×24 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNros2_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 ×6 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×6 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 7.06sINFOros2_control_node[2026-09-09 16:28:38.025] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-09-09 16:28:38.025] [info] Accepted new action goal ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519042 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519042 ms (missed cycles : 3).[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694304 ms (missed cycles : 5). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694304 ms (missed cycles : 5).[0m ×2 + 9.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×4 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695894 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695894 ms (missed cycles : 2).[0m ×2 + 10.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.35sINFOros2_control_node[2026-09-09 16:28:41.315] [info] Received new action goal ×2 + 10.35sINFOros2_control_node[2026-09-09 16:28:41.315] [info] Accepted new action goal ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248681 ms (missed cycles : 7). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.248681 ms (missed cycles : 7).[0m ×2 + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079841 ms (missed cycles : 2). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079841 ms (missed cycles : 2).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665754 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665754 ms (missed cycles : 2).[0m ×2 + 13.33sINFOobjective_server_nodeFound path in 0 iterations (5.28e-07 s). ×2 + 13.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.41sINFOros2_control_node[2026-09-09 16:28:44.378] [info] Received new action goal ×2 + 13.41sINFOros2_control_node[2026-09-09 16:28:44.378] [info] Accepted new action goal ×2 + 14.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352104 ms (missed cycles : 6). + 14.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.352104 ms (missed cycles : 6).[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.808023 ms (missed cycles : 5). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.808023 ms (missed cycles : 5).[0m ×2 + 16.36sINFOobjective_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 ×6 + 16.36sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.36sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.37sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340709 ms (missed cycles : 2). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340709 ms (missed cycles : 2).[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293885 ms (missed cycles : 4). + 17.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.293885 ms (missed cycles : 4).[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924102 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924102 ms (missed cycles : 2).[0m ×2 + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216160 ms (missed cycles : 2). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216160 ms (missed cycles : 2).[0m ×2 + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514752 ms (missed cycles : 4). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514752 ms (missed cycles : 4).[0m ×2 + 21.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943426 ms (missed cycles : 3). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943426 ms (missed cycles : 3).[0m ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972943 ms (missed cycles : 5). + 22.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.972943 ms (missed cycles : 5).[0m ×2 + 23.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785629 ms (missed cycles : 2). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.785629 ms (missed cycles : 2).[0m ×2 + 23.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.97sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.98sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.91sINFOros2_control_node[2026-09-09 16:28:55.877] [info] Received new action goal ×2 + 24.91sINFOros2_control_node[2026-09-09 16:28:55.877] [info] Accepted new action goal ×2 + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493980 ms (missed cycles : 3). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493980 ms (missed cycles : 3).[0m ×2 + 26.09sINFOobjective_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 + 26.10sINFOobjective_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 + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191117 ms (missed cycles : 2). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191117 ms (missed cycles : 2).[0m ×2 + 26.39sINFOobjective_server_nodeFound path in 0 iterations (5.13e-07 s). ×2 + 26.43sINFOros2_control_node[2026-09-09 16:28:57.400] [info] Received new action goal ×2 + 26.43sINFOros2_control_node[2026-09-09 16:28:57.400] [info] Accepted new action goal ×2 + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311037 ms (missed cycles : 2). + 27.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311037 ms (missed cycles : 2).[0m ×2 + 28.17sWARNros2_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 + 28.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384228 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384228 ms (missed cycles : 3).[0m ×2 + 28.73sINFOobjective_server_nodeFound path in 0 iterations (5.74e-07 s). ×2 + 28.73sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 28.74sINFOros2_control_node[2026-09-09 16:28:59.709] [info] Received new action goal ×2 + 28.74sINFOros2_control_node[2026-09-09 16:28:59.709] [info] Accepted new action goal ×2 + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174774 ms (missed cycles : 2). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.174774 ms (missed cycles : 2).[0m ×2 + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773099 ms (missed cycles : 5). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773099 ms (missed cycles : 5).[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139728 ms (missed cycles : 4). + 31.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.139728 ms (missed cycles : 4).[0m ×2 + 31.91sINFOros2_control_node[2026-09-09 16:29:02.879] [info] Received new action goal ×2 + 31.91sINFOros2_control_node[2026-09-09 16:29:02.879] [info] Accepted new action goal ×2 + 32.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646076 ms (missed cycles : 2). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646076 ms (missed cycles : 2).[0m ×2 + 33.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026342 ms (missed cycles : 2). + 33.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026342 ms (missed cycles : 2).[0m ×2 + 34.51sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 34.51sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 34.56sINFOros2_control_node[2026-09-09 16:29:05.532] [info] Received new action goal ×2 + 34.56sINFOros2_control_node[2026-09-09 16:29:05.532] [info] Accepted new action goal ×2 + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999582 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999582 ms (missed cycles : 2).[0m ×2 + 36.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081750 ms (missed cycles : 5). + 36.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081750 ms (missed cycles : 5).[0m ×2 + 36.33sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957136 ms (missed cycles : 5). + 37.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.957136 ms (missed cycles : 5).[0m ×2 + 38.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176861 ms (missed cycles : 3). + 38.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176861 ms (missed cycles : 3).[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685548 ms (missed cycles : 2). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685548 ms (missed cycles : 2).[0m ×2 + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929485 ms (missed cycles : 2). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929485 ms (missed cycles : 2).[0m ×2 + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347982 ms (missed cycles : 3). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.347982 ms (missed cycles : 3).[0m ×2 + 42.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812143 ms (missed cycles : 3). + 42.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812143 ms (missed cycles : 3).[0m ×2 + 43.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853326 ms (missed cycles : 2). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853326 ms (missed cycles : 2).[0m ×2 + 44.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969660 ms (missed cycles : 3). + 44.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969660 ms (missed cycles : 3).[0m ×2 + 45.28sINFOros2_control_node[2026-09-09 16:29:16.253] [info] Received new action goal ×2 + 45.28sINFOros2_control_node[2026-09-09 16:29:16.253] [info] Accepted new action goal ×2 + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807974 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807974 ms (missed cycles : 2).[0m ×2 + 46.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788971357.40738964 seconds ×3 + 47.02sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 47.02sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071547 ms (missed cycles : 2). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071547 ms (missed cycles : 2).[0m ×2 + 47.22sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788971358.19438910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734274 ms (missed cycles : 3). + 48.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734274 ms (missed cycles : 3).[0m ×2 + 48.45sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 48.47sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 48.48sINFOros2_control_node[2026-09-09 16:29:19.449] [info] Received new action goal ×2 + 48.48sINFOros2_control_node[2026-09-09 16:29:19.449] [info] Accepted new action goal ×2 + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871080 ms (missed cycles : 2). + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871080 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 89 warnings · 13744 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2258 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2258 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4516 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4516 + 0.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748870 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748870 ms (missed cycles : 2).[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529880 ms (missed cycles : 2). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529880 ms (missed cycles : 2).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737497 ms (missed cycles : 2). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.737497 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971413.77193713 seconds ×3 + 3.22sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.22sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.22sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.76sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.76sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.76sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.76sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.76sINFOobjective_server_nodecaller: ×4 + 3.76sINFOobjective_server_nodetype: 0 ×4 + 3.76sINFOobjective_server_nodename: "" ×4 + 3.76sINFOobjective_server_nodeinstance_id: "" ×4 + 3.76sINFOobjective_server_node ×4 + 3.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971414.40368819 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836697 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836697 ms (missed cycles : 2).[0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.00sINFOros2_control_node[2026-09-09 16:30:14.557] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-09-09 16:30:14.557] [info] Accepted new action goal ×2 + 4.81sWARNros2_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 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676987 ms (missed cycles : 3). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676987 ms (missed cycles : 3).[0m ×2 + 5.25sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.34sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.34sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.34sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475557 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475557 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725465 ms (missed cycles : 5). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725465 ms (missed cycles : 5).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055372 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055372 ms (missed cycles : 2).[0m ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793868 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793868 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402767 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.402767 ms (missed cycles : 2).[0m ×2 + 10.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×4 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496102 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496102 ms (missed cycles : 2).[0m ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992388 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992388 ms (missed cycles : 2).[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836552 ms (missed cycles : 2). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836552 ms (missed cycles : 2).[0m ×2 + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437074 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437074 ms (missed cycles : 2).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932891 ms (missed cycles : 4). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.932891 ms (missed cycles : 4).[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123095 ms (missed cycles : 2). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123095 ms (missed cycles : 2).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187565 ms (missed cycles : 3). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.187565 ms (missed cycles : 3).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164137 ms (missed cycles : 3). + 18.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164137 ms (missed cycles : 3).[0m ×2 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.568034 ms (missed cycles : 6). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.568034 ms (missed cycles : 6).[0m ×2 + 20.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498594 ms (missed cycles : 4). + 20.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.498594 ms (missed cycles : 4).[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597819 ms (missed cycles : 4). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597819 ms (missed cycles : 4).[0m ×2 + 22.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 22.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 24.88sWARNros2_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 + 25.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 25.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 25.94sINFOobjective_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: ""
+ 25.94sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 26.03sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.25sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 26.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 26.26sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 26.26sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 28.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.3s | 3 errors · 65 warnings · 301 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×4 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_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 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 2.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×8 + 2.60sINFOobjective_server_nodecaller: ×8 + 2.60sINFOobjective_server_nodetype: 0 ×8 + 2.60sINFOobjective_server_nodename: "" ×8 + 2.60sINFOobjective_server_nodeinstance_id: "" ×8 + 2.61sINFOobjective_server_node ×8 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720105 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720105 ms (missed cycles : 2).[0m ×2 + 7.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537228 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.537228 ms (missed cycles : 3).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720278 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.720278 ms (missed cycles : 3).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248308 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248308 ms (missed cycles : 4).[0m ×2 + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891917 ms (missed cycles : 3). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891917 ms (missed cycles : 3).[0m ×2 + 12.12sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.40sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 12.41sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 12.42sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 12.43sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 12.52sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 12.54sINFOobjective_server_nodeFound path in 1 iterations (0.00379868 s). ×2 + 12.68sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 12.76sINFOros2_control_node[2026-09-09 16:27:38.351] [info] Received new action goal ×2 + 12.76sINFOros2_control_node[2026-09-09 16:27:38.351] [info] Accepted new action goal ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911664 ms (missed cycles : 4). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911664 ms (missed cycles : 4).[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087640 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087640 ms (missed cycles : 2).[0m ×2 + 14.47sWARNros2_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 + 15.06sINFOros2_control_node[2026-09-09 16:27:40.654] [info] Received new action goal ×2 + 15.06sINFOros2_control_node[2026-09-09 16:27:40.654] [info] Accepted new action goal ×2 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042161 ms (missed cycles : 2). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042161 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 16.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 16.86sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 16.86sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 18.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 18.70sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 18.70sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 18.78sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 18.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 19.45sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 19.45sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 19.50sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.61sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 19.62sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 19.63sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 19.63sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 20.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 239 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.737463 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.737463 ms (missed cycles : 6).[0m ×2 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 1 iterations (0.00347104 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224201 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224201 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.10sINFOros2_control_node[2026-09-09 16:28:15.485] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-09 16:28:15.485] [info] Accepted new action goal ×2 + 1.53sINFOros2_control_node[2026-09-09 16:28:15.917] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-09-09 16:28:15.917] [info] Accepted new action goal ×2 + 1.84sWARNros2_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 ×4 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701468 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701468 ms (missed cycles : 2).[0m ×2 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_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 + 3.13sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.13sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_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: 1788971297.53269720 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635436 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635436 ms (missed cycles : 4).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.84sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.84sINFOobjective_server_nodecaller: ×6 + 3.84sINFOobjective_server_nodetype: 0 ×6 + 3.84sINFOobjective_server_nodename: "" ×6 + 3.84sINFOobjective_server_nodeinstance_id: "" ×6 + 3.84sINFOobjective_server_node ×6 + 3.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788971298.34547329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.11sINFOros2_control_node[2026-09-09 16:28:18.499] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-09 16:28:18.499] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014531 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014531 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454673 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454673 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913111 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913111 ms (missed cycles : 5).[0m ×2 + 6.62sINFOros2_control_node[2026-09-09 16:28:21.012] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-09-09 16:28:21.012] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259937 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.259937 ms (missed cycles : 5).[0m ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931024 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931024 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032566 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032566 ms (missed cycles : 4).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211268 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211268 ms (missed cycles : 3).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118585 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118585 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5).[0m ×2 + 13.78sWARNros2_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 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971309.58439803 seconds ×3 + 15.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.73sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 15.79sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971310.17542267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.83sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.83sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.85sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971310.23592782 seconds ×3 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4).[0m ×2 + 16.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.58sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 16.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.74sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 16.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 16.76sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 16.76sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 18.76sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.8s | 57 warnings · 220 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853326 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853326 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_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 + 0.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.57sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.57sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.57sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.57sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969660 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969660 ms (missed cycles : 3).[0m ×2 + 1.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.49sINFOros2_control_node[2026-09-09 16:29:16.253] [info] Received new action goal ×2 + 1.49sINFOros2_control_node[2026-09-09 16:29:16.253] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807974 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807974 ms (missed cycles : 2).[0m ×2 + 2.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1788971357.40738964 seconds ×3 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Push Button"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.23sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.23sINFOobjective_server_nodeobjective_name: "Push Button" ×2 + 3.23sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.23sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.23sINFOobjective_server_nodecaller: ×4 + 3.23sINFOobjective_server_nodetype: 0 ×4 + 3.23sINFOobjective_server_nodename: "" ×4 + 3.23sINFOobjective_server_nodeinstance_id: "" ×4 + 3.23sINFOobjective_server_node ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071547 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.071547 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Push Button` starting at time: 1788971358.19438910 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734274 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734274 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 4.67sINFOobjective_server_nodePath shortcutter: [X___________________________X] ×2 + 4.69sINFOros2_control_node[2026-09-09 16:29:19.449] [info] Received new action goal ×2 + 4.69sINFOros2_control_node[2026-09-09 16:29:19.449] [info] Accepted new action goal ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871080 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871080 ms (missed cycles : 2).[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350989 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350989 ms (missed cycles : 3).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024931 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024931 ms (missed cycles : 2).[0m ×2 + 8.38sINFOobjective_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 + 8.38sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.38sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.38sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.38sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.38sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.38sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.38sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490498 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490498 ms (missed cycles : 2).[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281471 ms (missed cycles : 3). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281471 ms (missed cycles : 3).[0m ×2 + 10.81sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 10.84sINFOros2_control_node[2026-09-09 16:29:25.601] [info] Received new action goal ×2 + 10.84sINFOros2_control_node[2026-09-09 16:29:25.601] [info] Accepted new action goal ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011697 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011697 ms (missed cycles : 2).[0m ×2 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015926 ms (missed cycles : 3). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015926 ms (missed cycles : 3).[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2).[0m ×2 + 13.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 14.44sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788971369.20687342 seconds ×3 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858191 ms (missed cycles : 3). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858191 ms (missed cycles : 3).[0m ×2 + 15.04sINFOobjective_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: ""
+ 15.04sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 15.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971369.86192870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.26sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 15.26sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 15.27sINFOros2_control_node[2026-09-09 16:29:30.035] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-09-09 16:29:30.035] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522353 ms (missed cycles : 3). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522353 ms (missed cycles : 3).[0m ×2 + 16.54sINFOobjective_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 + 16.55sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179692 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179692 ms (missed cycles : 2).[0m ×2 + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265961 ms (missed cycles : 2). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265961 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 57 errors · 42 warnings · 391 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788971491.53297830 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.59sINFOobjective_server_nodecaller: ×8 + 0.59sINFOobjective_server_nodetype: 0 ×8 + 0.59sINFOobjective_server_nodename: "" ×8 + 0.59sINFOobjective_server_nodeinstance_id: "" ×8 + 0.59sINFOobjective_server_node ×8 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4).[0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971495.54903936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971496.71918011 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283108 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283108 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321164 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321164 ms (missed cycles : 5).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770096 ms (missed cycles : 2). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770096 ms (missed cycles : 2).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092008 ms (missed cycles : 5). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092008 ms (missed cycles : 5).[0m ×2 + 9.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941987 ms (missed cycles : 3). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941987 ms (missed cycles : 3).[0m ×2 + 11.05sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072139 ms (missed cycles : 4). + 11.05sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.07sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.07sERRORweb_video_auth_proxy-23process has died [pid 7391, 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 + 11.07sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.07sERRORweb_bridge_auth_proxy-22process has died [pid 7390, 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 + 11.07sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.08sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.08sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.072139 ms (missed cycles : 4).[0m ×2 + 11.08sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.09sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.09sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.09sINFOvideo_server-21process has finished cleanly [pid 7386] ×2 + 11.10sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.10sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.11sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.11sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.11sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.12sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.13sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.13sINFOcontroller_managerShutdown request received.... + 11.13sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.13sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.13sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.13sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.13sINFOvideo_server2026/09/09 16:31:42 INF shutting down gracefully ×2 + 11.13sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.13sINFOvideo_server2026/09/09 16:31:42 INF [WebRTC] closing ×2 + 11.13sINFOvideo_server2026/09/09 16:31:42 INF [RTSP] closing ×2 + 11.13sINFOvideo_server2026/09/09 16:31:42 INF waiting for running hooks ×2 + 11.13sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.13sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.13sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.13sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.13sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.13sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.13sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.13sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.13sINFOcontroller_managerShutting down the controller manager. + 11.13sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.13sERRORmove_groupStack trace (most recent call last) in thread 7751: ×2 + 11.13sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.13sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.13sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.13sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.13sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.13sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.13sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.13sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.14sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.14sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.14sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.14sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.14sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8e84740a63, in __clone ×2 + 11.14sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8e846b3aa3, in ×2 + 11.14sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8e84945db3, in ×2 + 11.14sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.2.0", at 0x7f8e850aaa94, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.14sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8e84cd7620, in rclcpp::Rate::sleep() ×2 + 11.14sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8e84c19d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.14sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f8e84bdb087, in ×2 + 11.14sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8e84914390, in __cxa_throw ×2 + 11.14sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8e848fea54, in std::terminate() ×2 + 11.14sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8e849140d9, in ×2 + 11.14sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f8e848feff4, in ×2 + 11.14sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8e8463f8fe, in abort ×2 + 11.14sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8e8465c27d, in raise ×2 + 11.14sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f8e846b5b2c, in pthread_kill ×2 + 11.14sERRORmove_groupAborted (Signal sent by tkill() 7315 0) ×2 + 11.15sERRORmove_group-9process has died [pid 7315, 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_ui2a2syv --params-file /tmp/launch_params_i0xkoss_ --params-file /tmp/launch_params_5h30fc38 --params-file /tmp/launch_params_ktpsru41 --params-file /tmp/launch_params_hj3n3wyf --params-file /tmp/launch_params_p1xo734r']. ×2 + 11.27sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.27sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 11.27sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.13sINFOtf2_web_republisher_node-20process has finished cleanly [pid 7373] ×2 + 12.13sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.15sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 7319] ×2 + 12.15sINFOmove_joint_resampler_node-12process has finished cleanly [pid 7318] ×2 + 12.18sINFOexecute_objective_bridge-17process has finished cleanly [pid 7323] ×2 + 12.18sINFOcomponent_container_mt-16process has finished cleanly [pid 7322] ×2 + 12.19sINFOui_teleop_bridge-18process has finished cleanly [pid 7324] ×2 + 12.20sINFOwaypoint_manager_node-11process has finished cleanly [pid 7317] ×2 + 12.20sINFOparameter_manager_node-10process has finished cleanly [pid 7316] ×2 + 12.27sINFOobjective_server_node[0;m[2026-09-09 16:31:43.784] [moveit_pro_license] [info] ×2 + 12.27sINFOobjective_server_node************************************************* ×4 + 12.27sINFOobjective_server_node* MoveIt Pro License ×2 + 12.27sINFOobjective_server_node* Application has successfully terminated ×2 + 12.39sINFOobjective_server_node_main-14process has finished cleanly [pid 7320] ×2 + 12.39sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.18sINFOweb_bridge-19process has finished cleanly [pid 7325] ×2 + 13.18sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.28sINFOcomponent_container_mt-15process has finished cleanly [pid 7321] ×2 + 13.70sINFOros2_control_node-1process has finished cleanly [pid 7274] ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.1s | 9 errors · 60 warnings · 189 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.20sINFOobjective_server_nodecaller: ×4 + 3.20sINFOobjective_server_nodetype: 0 ×4 + 3.20sINFOobjective_server_nodename: "" ×4 + 3.20sINFOobjective_server_nodeinstance_id: "" ×4 + 3.20sINFOobjective_server_node ×4 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273504 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273504 ms (missed cycles : 4).[0m ×2 + 7.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.71sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 8.05sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 8.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 5 iterations (0.00686448 s). ×2 + 8.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 8.42sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 8.44sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570691 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570691 ms (missed cycles : 2).[0m ×2 + 8.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.63sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.90sINFOros2_control_node[2026-09-09 16:28:01.792] [info] Received new action goal ×2 + 8.90sINFOros2_control_node[2026-09-09 16:28:01.792] [info] Accepted new action goal ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851493 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851493 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307822 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307822 ms (missed cycles : 3).[0m ×2 + 11.16sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.25sWARNros2_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 + 11.44sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.44sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.44sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 11.46sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788971284.34713840 seconds ×3 + 11.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424889 ms (missed cycles : 4). + 11.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424889 ms (missed cycles : 4).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940877 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940877 ms (missed cycles : 2).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823282 ms (missed cycles : 4). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823282 ms (missed cycles : 4).[0m ×2 + 14.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.26sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 14.35sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788971287.23920679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.40sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 14.55sINFOros2_control_node[2026-09-09 16:28:07.443] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-09-09 16:28:07.443] [info] Accepted new action goal ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855165 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855165 ms (missed cycles : 3).[0m ×2 + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674315 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674315 ms (missed cycles : 2).[0m ×2 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023331 ms (missed cycles : 4). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023331 ms (missed cycles : 4).[0m ×2 + 17.25sWARNros2_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 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 57 warnings · 388 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 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_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 + 1.97sERRORobjective_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: 1788971479.02443123 seconds ×3 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×12 + 2.59sINFOobjective_server_nodecaller: ×12 + 2.59sINFOobjective_server_nodetype: 0 ×12 + 2.59sINFOobjective_server_nodename: "" ×12 + 2.59sINFOobjective_server_nodeinstance_id: "" ×12 + 2.59sINFOobjective_server_node ×12 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298397 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.298397 ms (missed cycles : 4).[0m ×2 + 7.47sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.47sINFOros2_control_node[2026-09-09 16:31:24.522] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-09-09 16:31:24.522] [info] Accepted new action goal ×2 + 7.47sINFOros2_control_node[2026-09-09 16:31:24.522] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212508 ms (missed cycles : 2). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212508 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548005 ms (missed cycles : 6). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.548005 ms (missed cycles : 6).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599735 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599735 ms (missed cycles : 3).[0m ×2 + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2).[0m ×2 + 12.12sWARNros2_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 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5).[0m ×2 + 14.48sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 14.48sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 14.48sERRORobjective_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: 1788971491.53297830 seconds ×3 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 15.05sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.05sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 15.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 16.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 17.23sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.23sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 17.29sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.29sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.29sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.29sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.29sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 17.83sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 17.83sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 17.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.89sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place with AprilTags | 3_waypoint_pick_and_place_apriltags.xml | 11.0s | 6 errors · 54 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393408 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393408 ms (missed cycles : 4).[0m ×2 + 0.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747413 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747413 ms (missed cycles : 2).[0m ×2 + 1.39sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.48sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 1.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 1.51sINFOros2_control_node[2026-09-09 16:27:16.097] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-09-09 16:27:16.097] [info] Accepted new action goal ×2 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.04sINFOros2_control_node[2026-09-09 16:27:16.622] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-09 16:27:16.622] [info] Canceling active goal... ×2 + 2.06sERRORobjective_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: 1788971236.63894725 seconds ×3 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732308 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732308 ms (missed cycles : 2).[0m ×2 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place with AprilTags"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.73sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788971237.31632543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 2.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 2.96sINFOros2_control_node[2026-09-09 16:27:17.540] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-09-09 16:27:17.540] [info] Accepted new action goal ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374258 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374258 ms (missed cycles : 4).[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058233 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058233 ms (missed cycles : 4).[0m ×2 + 5.04sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 5.04sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 5.22sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 5.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 5.24sINFOros2_control_node[2026-09-09 16:27:19.821] [info] Received new action goal ×2 + 5.24sINFOros2_control_node[2026-09-09 16:27:19.821] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461805 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461805 ms (missed cycles : 3).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958278 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.958278 ms (missed cycles : 4).[0m ×2 + 6.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317862 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317862 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085337 ms (missed cycles : 5). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.085337 ms (missed cycles : 5).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223846 ms (missed cycles : 3). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223846 ms (missed cycles : 3).[0m ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4).[0m ×2 + 11.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 11.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 11.01sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 11.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 11.44sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 11.61sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 11.69sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 11.69sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 12.77sWARNros2_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 + 13.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 13.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 13.07sERRORobjective_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: 1788971247.65796208 seconds ×3 + 13.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.61sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 13.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.79sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 14.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.38sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 14.43sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.63sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 14.63sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.64sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 14.64sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.0s | 3 errors · 57 warnings · 221 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.33sINFOobjective_server_nodecaller: ×6 + 2.33sINFOobjective_server_nodetype: 0 ×6 + 2.33sINFOobjective_server_nodename: "" ×6 + 2.33sINFOobjective_server_nodeinstance_id: "" ×6 + 2.33sINFOobjective_server_node ×6 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X________X] ×6 + 6.62sINFOros2_control_node[2026-09-09 16:27:48.579] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-09-09 16:27:48.579] [info] Accepted new action goal ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867103 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867103 ms (missed cycles : 3).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473046 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473046 ms (missed cycles : 3).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982373 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982373 ms (missed cycles : 2).[0m ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 8.97sINFOros2_control_node[2026-09-09 16:27:50.927] [info] Received new action goal ×2 + 8.97sINFOros2_control_node[2026-09-09 16:27:50.927] [info] Accepted new action goal ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.668911 ms (missed cycles : 5). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.668911 ms (missed cycles : 5).[0m ×2 + 10.16sWARNros2_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 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 11.31sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 11.32sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 11.32sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 13.56sINFOobjective_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 + 13.57sERRORobjective_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: 1788971275.52593184 seconds ×3 + 14.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.14sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 14.20sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 14.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 14.41sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 14.41sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 16.18sWARNros2_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 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 59 warnings · 257 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065030 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065030 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397485 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397485 ms (missed cycles : 2).[0m ×2 + 2.25sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257736 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257736 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788971468.05111647 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.55sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.55sINFOobjective_server_nodecaller: ×8 + 3.55sINFOobjective_server_nodetype: 0 ×8 + 3.55sINFOobjective_server_nodename: "" ×8 + 3.55sINFOobjective_server_nodeinstance_id: "" ×8 + 3.55sINFOobjective_server_node ×8 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514213 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514213 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788971468.65411544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.75sINFOros2_control_node[2026-09-09 16:31:08.798] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-09 16:31:08.798] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490275 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490275 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562003 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562003 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303499 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303499 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745992 ms (missed cycles : 4). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745992 ms (missed cycles : 4).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.899522 ms (missed cycles : 6). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.899522 ms (missed cycles : 6).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553326 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553326 ms (missed cycles : 3).[0m ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2).[0m ×2 + 11.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 12.00sWARNros2_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 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 13.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.97sERRORobjective_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: 1788971479.02443123 seconds ×3 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 14.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.60sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 14.65sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.71sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 15.27sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 15.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.35sINFOobjective_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 + 15.35sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 15.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 16.00sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 16.05sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.15sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 16.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 16.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 16.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 17.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 57 warnings · 426 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.78sINFOobjective_server_nodecaller: ×12 + 0.78sINFOobjective_server_nodetype: 0 ×12 + 0.78sINFOobjective_server_nodename: "" ×12 + 0.78sINFOobjective_server_nodeinstance_id: "" ×12 + 0.78sINFOobjective_server_node ×12 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×4 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.061974 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.061974 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341359 ms (missed cycles : 4). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341359 ms (missed cycles : 4).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286739 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286739 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.518362 ms (missed cycles : 7). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.518362 ms (missed cycles : 7).[0m ×2 + 10.07sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 10.09sINFOros2_control_node[2026-09-09 16:27:12.757] [info] Received new action goal ×2 + 10.09sINFOros2_control_node[2026-09-09 16:27:12.757] [info] Accepted new action goal ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878990 ms (missed cycles : 5). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.878990 ms (missed cycles : 5).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393408 ms (missed cycles : 4). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393408 ms (missed cycles : 4).[0m ×2 + 12.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 13.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747413 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747413 ms (missed cycles : 2).[0m ×2 + 13.40sINFOobjective_server_nodeFound path in 0 iterations (5.14e-07 s). ×2 + 13.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 13.43sINFOros2_control_node[2026-09-09 16:27:16.097] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-09-09 16:27:16.097] [info] Accepted new action goal ×2 + 13.95sINFOobjective_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 + 13.96sINFOros2_control_node[2026-09-09 16:27:16.622] [info] Got request to cancel active goal. ×2 + 13.96sINFOros2_control_node[2026-09-09 16:27:16.622] [info] Canceling active goal... ×2 + 13.97sERRORobjective_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: 1788971236.63894725 seconds ×3 + 13.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732308 ms (missed cycles : 2). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732308 ms (missed cycles : 2).[0m ×2 + 14.58sINFOobjective_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: ""
+ 14.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place with AprilTags" ×2 + 14.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place with AprilTags` starting at time: 1788971237.31632543 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.87sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 14.88sINFOros2_control_node[2026-09-09 16:27:17.540] [info] Received new action goal ×2 + 14.88sINFOros2_control_node[2026-09-09 16:27:17.540] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374258 ms (missed cycles : 4). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374258 ms (missed cycles : 4).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058233 ms (missed cycles : 4). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.058233 ms (missed cycles : 4).[0m ×2 + 17.14sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 17.14sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 17.16sINFOros2_control_node[2026-09-09 16:27:19.821] [info] Received new action goal ×2 + 17.16sINFOros2_control_node[2026-09-09 16:27:19.821] [info] Accepted new action goal ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461805 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.461805 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 60 warnings · 212 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307822 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.307822 ms (missed cycles : 3).[0m ×2 + 0.32sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.41sWARNros2_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 ×4 + 0.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.60sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.61sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server 'do_teleoperate': Goal request was rejected by the action server ×3 + 0.62sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1788971284.34713840 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424889 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.424889 ms (missed cycles : 4).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940877 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940877 ms (missed cycles : 2).[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_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 5.823282 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.823282 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Using Yaml"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.42sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.42sINFOobjective_server_nodeobjective_name: "Grasp Pose Using Yaml" ×2 + 3.42sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.42sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.42sINFOobjective_server_nodecaller: ×4 + 3.42sINFOobjective_server_nodetype: 0 ×4 + 3.42sINFOobjective_server_nodename: "" ×4 + 3.42sINFOobjective_server_nodeinstance_id: "" ×4 + 3.42sINFOobjective_server_node ×4 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1788971287.23920679 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.72sINFOros2_control_node[2026-09-09 16:28:07.443] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-09-09 16:28:07.443] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855165 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855165 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674315 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674315 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023331 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023331 ms (missed cycles : 4).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213665 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213665 ms (missed cycles : 4).[0m ×2 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.72sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 8.04sINFOobjective_server_nodePath shortcutter: [X__________________________________X] ×2 + 8.06sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.16sINFOobjective_server_nodeFound path in 5 iterations (0.00530103 s). ×2 + 8.26sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________XXX______________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 8.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×4 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (5.08e-07 s). ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374081 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.374081 ms (missed cycles : 3).[0m ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (3.69e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.83sINFOros2_control_node[2026-09-09 16:28:12.555] [info] Received new action goal ×2 + 8.83sINFOros2_control_node[2026-09-09 16:28:12.556] [info] Accepted new action goal ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.423779 ms (missed cycles : 6). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.423779 ms (missed cycles : 6).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.737463 ms (missed cycles : 6). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.737463 ms (missed cycles : 6).[0m ×2 + 11.36sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 11.37sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 11.37sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 11.39sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 11.51sINFOobjective_server_nodeFound path in 1 iterations (0.00347104 s). ×2 + 11.68sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 11.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224201 ms (missed cycles : 4). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224201 ms (missed cycles : 4).[0m ×2 + 11.76sINFOros2_control_node[2026-09-09 16:28:15.485] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-09-09 16:28:15.485] [info] Accepted new action goal ×2 + 12.19sINFOros2_control_node[2026-09-09 16:28:15.917] [info] Received new action goal ×2 + 12.19sINFOros2_control_node[2026-09-09 16:28:15.917] [info] Accepted new action goal ×2 + 12.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701468 ms (missed cycles : 2). + 12.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701468 ms (missed cycles : 2).[0m ×2 + 13.79sINFOobjective_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 + 13.79sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.79sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.79sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.79sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.80sERRORobjective_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: 1788971297.53269720 seconds ×3 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635436 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635436 ms (missed cycles : 4).[0m ×2 + 14.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 14.62sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788971298.34547329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.76sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 14.77sINFOros2_control_node[2026-09-09 16:28:18.499] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-09-09 16:28:18.499] [info] Accepted new action goal ×2 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014531 ms (missed cycles : 5). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014531 ms (missed cycles : 5).[0m ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454673 ms (missed cycles : 3). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454673 ms (missed cycles : 3).[0m ×2 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913111 ms (missed cycles : 5). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913111 ms (missed cycles : 5).[0m ×2 + 17.28sINFOros2_control_node[2026-09-09 16:28:21.012] [info] Received new action goal ×2 + 17.28sINFOros2_control_node[2026-09-09 16:28:21.012] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 54 warnings · 143 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.60sINFOobjective_server_nodecaller: ×4 + 3.60sINFOobjective_server_nodetype: 0 ×4 + 3.60sINFOobjective_server_nodename: "" ×4 + 3.60sINFOobjective_server_nodeinstance_id: "" ×4 + 3.60sINFOobjective_server_node ×4 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125233 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125233 ms (missed cycles : 2).[0m ×2 + 8.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616221 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616221 ms (missed cycles : 2).[0m ×2 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381919 ms (missed cycles : 5). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.381919 ms (missed cycles : 5).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885627 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885627 ms (missed cycles : 3).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881868 ms (missed cycles : 6). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881868 ms (missed cycles : 6).[0m ×2 + 13.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266681 ms (missed cycles : 4). + 13.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266681 ms (missed cycles : 4).[0m ×2 + 13.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788971457.52641392 seconds ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763901 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763901 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.49sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 14.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788971458.13896537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.80sWARNros2_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 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 14.83sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.85sINFOros2_control_node[2026-09-09 16:30:58.437] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-09-09 16:30:58.438] [info] Accepted new action goal ×2 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418338 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418338 ms (missed cycles : 2).[0m ×2 + 16.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684621 ms (missed cycles : 6). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684621 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 57 warnings · 2254 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 2.74sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.81sINFOobjective_server_nodecaller: ×4 + 3.81sINFOobjective_server_nodetype: 0 ×4 + 3.81sINFOobjective_server_nodename: "" ×4 + 3.81sINFOobjective_server_nodeinstance_id: "" ×4 + 3.81sINFOobjective_server_node ×4 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833645 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833645 ms (missed cycles : 3).[0m ×2 + 7.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 7.95sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 7.95sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027203 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027203 ms (missed cycles : 2).[0m ×2 + 8.23sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 8.23sINFOobjective_server_nodePath shortcutter: [X_________X] ×4 + 8.24sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X_______________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 8.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 1 iterations (0.0040028 s). ×2 + 8.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________X__________________X] ×2 + 8.57sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 8.59sINFOros2_control_node[2026-09-09 16:30:41.289] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-09-09 16:30:41.289] [info] Accepted new action goal ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940036 ms (missed cycles : 3). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940036 ms (missed cycles : 3).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135097 ms (missed cycles : 4). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135097 ms (missed cycles : 4).[0m ×2 + 10.89sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 10.89sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 11.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 12.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 12.73sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.74sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 12.74sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 13.51sWARNros2_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 + 13.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.90sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 13.90sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 13.92sERRORobjective_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: 1788971446.61601353 seconds ×3 + 13.95sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.95sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 13.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 13.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 14.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 14.50sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 14.58sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 14.76sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 14.76sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 16.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[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 4.885627 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885627 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881868 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881868 ms (missed cycles : 6).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266681 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266681 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1788971457.52641392 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763901 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763901 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.41sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.41sINFOobjective_server_nodecaller: ×4 + 3.41sINFOobjective_server_nodetype: 0 ×4 + 3.41sINFOobjective_server_nodename: "" ×4 + 3.41sINFOobjective_server_nodeinstance_id: "" ×4 + 3.41sINFOobjective_server_node ×4 + 3.47sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788971458.13896537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.72sWARNros2_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 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.77sINFOros2_control_node[2026-09-09 16:30:58.437] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 16:30:58.438] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418338 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418338 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684621 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684621 ms (missed cycles : 6).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067643 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.067643 ms (missed cycles : 4).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503287 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503287 ms (missed cycles : 3).[0m ×2 + 7.79sINFOros2_control_node[2026-09-09 16:31:02.455] [info] Received new action goal ×2 + 7.79sINFOros2_control_node[2026-09-09 16:31:02.455] [info] Accepted new action goal ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024927 ms (missed cycles : 2). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024927 ms (missed cycles : 2).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023971 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.023971 ms (missed cycles : 2).[0m ×2 + 10.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065030 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065030 ms (missed cycles : 3).[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397485 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397485 ms (missed cycles : 2).[0m ×2 + 12.63sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257736 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257736 ms (missed cycles : 2).[0m ×2 + 13.38sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788971468.05111647 seconds ×3 + 13.93sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 13.93sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514213 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514213 ms (missed cycles : 4).[0m ×2 + 13.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788971468.65411544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.12sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 14.12sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 14.13sINFOros2_control_node[2026-09-09 16:31:08.798] [info] Received new action goal ×2 + 14.13sINFOros2_control_node[2026-09-09 16:31:08.798] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490275 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490275 ms (missed cycles : 2).[0m ×2 + 15.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.04sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562003 ms (missed cycles : 4). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562003 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 208 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971309.58439803 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.66sINFOobjective_server_nodecaller: ×6 + 2.66sINFOobjective_server_nodetype: 0 ×6 + 2.66sINFOobjective_server_nodename: "" ×6 + 2.66sINFOobjective_server_nodeinstance_id: "" ×6 + 2.66sINFOobjective_server_node ×6 + 2.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971310.17542267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971310.23592782 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 6.75sWARNros2_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 + 7.24sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.24sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 7.30sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 7.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 7.38sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.39sINFOobjective_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 + 7.66sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 7.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 7.71sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 7.71sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 10.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.2s | 3 errors · 31 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5).[0m ×2 + 2.99sINFOobjective_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 + 3.00sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1788971491.53297830 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 3.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×8 + 3.57sINFOobjective_server_nodecaller: ×8 + 3.57sINFOobjective_server_nodetype: 0 ×8 + 3.57sINFOobjective_server_nodename: "" ×8 + 3.57sINFOobjective_server_nodeinstance_id: "" ×8 + 3.57sINFOobjective_server_node ×8 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 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 4.431081 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4).[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.95sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 7.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971495.54903936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2).[0m ×2 + 8.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971496.71918011 seconds ×3 + 8.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.8s | 30 warnings · 533 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.29sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.29sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.29sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 0.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 0.34sINFOros2-3process has finished cleanly [pid 7276] ×2 + 0.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.37sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.37sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.38sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.38sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.65sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.65sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.65sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.68sINFOros2-5process has finished cleanly [pid 7289] ×2 + 0.77sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 0.77sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 0.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.81sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.84sINFOros2_control_node[2026-09-09 16:26:59.074] [info] Controller state will be published at 10 Hz. ×2 + 0.84sINFOros2_control_node[2026-09-09 16:26:59.075] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672259 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672259 ms (missed cycles : 2).[0m ×2 + 1.15sINFOros2-7process has finished cleanly [pid 7291] ×2 + 1.16sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.16sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.16sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.23sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 1.23sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 1.27sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.27sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.27sINFOros2_control_node[2026-09-09 16:26:59.510] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.27sINFOros2_control_node[2026-09-09 16:26:59.510] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.30sINFOros2_control_node[2026-09-09 16:26:59.534] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.30sINFOros2_control_node[2026-09-09 16:26:59.534] [info] Controller state will be published at 50 Hz. ×2 + 1.30sINFOros2_control_node[2026-09-09 16:26:59.539] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.35sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.53sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.62sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2-6process has finished cleanly [pid 7290] ×2 + 1.68sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 1.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 1.72sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.72sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.72sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.72sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.75sINFOros2_control_node[2026-09-09 16:26:59.985] [info] Controller state will be published at 20 Hz. ×2 + 1.75sINFOros2_control_node[2026-09-09 16:26:59.986] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.08sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.10sINFOros2-8process has finished cleanly [pid 7292] ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.81sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 2.81sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 2.81sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 2.81sINFOobjective_server_nodeparameter_overrides: [] ×14 + 2.81sINFOobjective_server_nodecaller: ×14 + 2.81sINFOobjective_server_nodetype: 0 ×14 + 2.81sINFOobjective_server_nodename: "" ×14 + 2.81sINFOobjective_server_nodeinstance_id: "" ×14 + 2.81sINFOobjective_server_node ×14 + 2.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 3.48sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.65sWARNros2_control_nodeCamera render tick took 1.98 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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 4.92sWARNros2_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 + 5.21sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.21sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 5.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 5.92sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.92sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 5.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 6.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.53sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 6.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 7.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.37sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 7.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.45sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.45sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 8.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.01sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 8.07sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.09sINFOobjective_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 + 8.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 8.22sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 8.22sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.31sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_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 + 2.33sINFOobjective_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 + 2.34sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 23 warnings · 125 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:27:40.654] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:27:40.654] [info] Accepted new action goal ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042161 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042161 ms (missed cycles : 2).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 1.78sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.79sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 1.79sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.63sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 3.63sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 3.63sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 3.63sINFOobjective_server_nodeparameter_overrides: [] ×4 + 3.63sINFOobjective_server_nodecaller: ×4 + 3.63sINFOobjective_server_nodetype: 0 ×4 + 3.63sINFOobjective_server_nodename: "" ×4 + 3.64sINFOobjective_server_nodeinstance_id: "" ×4 + 3.64sINFOobjective_server_node ×4 + 3.72sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 4.39sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.39sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 4.44sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 4.57sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 5.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 427 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.985] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.986] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2-8process has finished cleanly [pid 7292] ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3).[0m ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 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 + 1.93sWARNros2_control_nodeCamera render tick took 1.98 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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 3.20sWARNros2_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 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 7.34sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 28 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 1.14sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1788971479.02443123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.74sINFOobjective_server_nodecaller: ×6 + 3.74sINFOobjective_server_nodetype: 0 ×6 + 3.74sINFOobjective_server_nodename: "" ×6 + 3.74sINFOobjective_server_nodeinstance_id: "" ×6 + 3.74sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971309.58439803 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971310.17542267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971310.23592782 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[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 8.695897 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 0.12sWARNros2_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 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 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: 1788971479.02443123 seconds ×3 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 2.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.17sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.18sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.19sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.19sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.19sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.71sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.71sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.71sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.71sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.71sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.71sINFOobjective_server_nodecaller: ×6 + 2.71sINFOobjective_server_nodetype: 0 ×6 + 2.71sINFOobjective_server_nodename: "" ×6 + 2.71sINFOobjective_server_nodeinstance_id: "" ×6 + 2.71sINFOobjective_server_node ×6 + 2.76sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.81sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 3.38sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.38sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.43sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 4.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.11sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.27sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 0.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1788971491.53297830 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.59sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 0.59sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 0.59sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 0.59sINFOobjective_server_nodeparameter_overrides: [] ×8 + 0.59sINFOobjective_server_nodecaller: ×8 + 0.59sINFOobjective_server_nodetype: 0 ×8 + 0.59sINFOobjective_server_nodename: "" ×8 + 0.59sINFOobjective_server_nodeinstance_id: "" ×8 + 0.59sINFOobjective_server_node ×8 + 0.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 2.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 2.77sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.77sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 3.36sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.36sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 3.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4).[0m ×2 + 3.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971495.54903936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971496.71918011 seconds ×3 + 5.24sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283108 ms (missed cycles : 2). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283108 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321164 ms (missed cycles : 5). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321164 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 213 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5).[0m ×2 + 0.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.76sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 0.76sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 0.77sERRORobjective_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: 1788971491.53297830 seconds ×3 + 0.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.34sINFOobjective_server_nodeReceived /do_objective goal: ×8 + 1.34sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 1.34sINFOobjective_server_nodeobjective_xml_string: "" ×8 + 1.34sINFOobjective_server_nodeparameter_overrides: [] ×8 + 1.34sINFOobjective_server_nodecaller: ×8 + 1.34sINFOobjective_server_nodetype: 0 ×8 + 1.34sINFOobjective_server_nodename: "" ×8 + 1.34sINFOobjective_server_nodeinstance_id: "" ×8 + 1.34sINFOobjective_server_node ×8 + 1.39sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 3.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.52sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 3.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.57sINFOobjective_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 + 3.58sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.58sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 4.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.12sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 4.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189830 ms (missed cycles : 4).[0m ×2 + 4.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.72sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Wrist Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.72sINFOobjective_server_nodeobjective_name: "Take Wrist Camera Snapshot" ×2 + 4.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1788971495.54903936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091287 ms (missed cycles : 2).[0m ×2 + 5.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1788971496.71918011 seconds ×3 + 5.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283108 ms (missed cycles : 2). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283108 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.1s | 3 errors · 25 warnings · 191 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 1.14sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1788971479.02443123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.74sINFOobjective_server_nodecaller: ×6 + 3.74sINFOobjective_server_nodetype: 0 ×6 + 3.74sINFOobjective_server_nodename: "" ×6 + 3.74sINFOobjective_server_nodeinstance_id: "" ×6 + 3.74sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_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 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 2.74sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833645 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833645 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.31sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_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 + 2.33sINFOobjective_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 + 2.34sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.352170 ms (missed cycles : 4).[0m ×2 + 0.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.30sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.31sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.60sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.62sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.62sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.91sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 2.07sWARNros2_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 + 2.33sINFOobjective_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 + 2.34sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.34sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.37sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.38sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.38sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.91sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.91sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.91sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.91sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.91sINFOobjective_server_nodecaller: ×4 + 2.91sINFOobjective_server_nodetype: 0 ×4 + 2.91sINFOobjective_server_nodename: "" ×4 + 2.91sINFOobjective_server_nodeinstance_id: "" ×4 + 2.91sINFOobjective_server_node ×4 + 2.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.67sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.67sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.92sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.93sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.93sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_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 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_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 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 147 info |
+ 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 + 0.00sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 2 ×2 + 0.00sINFOobjective_server_nodeFound detection with id: 2, label: %s ×3 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 0.31sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 0.32sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.33sINFOobjective_server_nodeFound path in 0 iterations (2.82e-07 s). ×2 + 0.40sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 0.44sINFOobjective_server_nodeFound path in 1 iterations (0.00317194 s). ×2 + 0.60sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X_____________X] ×2 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Received new action goal ×2 + 0.68sINFOros2_control_node[2026-09-09 16:27:26.276] [info] Accepted new action goal ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588119 ms (missed cycles : 2).[0m ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332299 ms (missed cycles : 2).[0m ×2 + 1.76sWARNros2_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 + 2.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-09-09 16:27:27.628] [info] Canceling active goal... ×2 + 2.07sERRORobjective_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: 1788971247.65796208 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Add Table to Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.60sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.60sINFOobjective_server_nodeobjective_name: "Add Table to Planning Scene" ×2 + 2.60sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.60sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.60sINFOobjective_server_nodecaller: ×4 + 2.60sINFOobjective_server_nodetype: 0 ×4 + 2.60sINFOobjective_server_nodename: "" ×4 + 2.60sINFOobjective_server_nodeinstance_id: "" ×4 + 2.61sINFOobjective_server_node ×4 + 2.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1788971248.27572417 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1788971248.37585402 seconds ×3 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418212 ms (missed cycles : 6).[0m ×2 + 3.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.37sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object" ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1788971249.01454544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 3.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-09-09 16:27:29.218] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.992843 ms (missed cycles : 8).[0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263347 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.567662 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | Collect Training Data with Behaviors | collect_training_data_with_behaviors.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 20 warnings · 121 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544940 ms (missed cycles : 6).[0m ×2 + 0.48sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Received new action goal ×2 + 0.49sINFOros2_control_node[2026-09-09 16:27:42.448] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197148 ms (missed cycles : 4).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1788971263.74470353 seconds ×3 + 1.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 1.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 1.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Previous Obstacles"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.33sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.33sINFOobjective_server_nodeobjective_name: "Clear Previous Obstacles" ×2 + 2.33sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.33sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.33sINFOobjective_server_nodecaller: ×4 + 2.33sINFOobjective_server_nodetype: 0 ×4 + 2.33sINFOobjective_server_nodename: "" ×4 + 2.33sINFOobjective_server_nodeinstance_id: "" ×4 + 2.33sINFOobjective_server_node ×4 + 2.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1788971264.37585878 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742616 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1788971264.45598364 seconds ×3 + 3.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Cycle Between Waypoints"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.09sINFOobjective_server_nodeobjective_name: "Cycle Between Waypoints" ×2 + 3.14sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1788971265.09580064 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.25sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 3.25sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Received new action goal ×2 + 3.26sINFOros2_control_node[2026-09-09 16:27:45.220] [info] Accepted new action goal ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.216350 ms (missed cycles : 8).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832098 ms (missed cycles : 2).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486688 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.383599 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.38sINFOobjective_server_nodeFound path in 0 iterations (5.71e-07 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Received new action goal ×2 + 0.39sINFOros2_control_node[2026-09-09 16:27:53.277] [info] Accepted new action goal ×2 + 1.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809082 ms (missed cycles : 3).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.937184 ms (missed cycles : 8).[0m ×2 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1788971275.52593184 seconds ×3 + 2.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Grasp Pose Tuning With April Tag"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.20sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.20sINFOobjective_server_nodeobjective_name: "Grasp Pose Tuning With April Tag" ×2 + 3.20sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.20sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.20sINFOobjective_server_nodecaller: ×2 + 3.20sINFOobjective_server_nodetype: 0 ×2 + 3.20sINFOobjective_server_nodename: "" ×2 + 3.20sINFOobjective_server_nodeinstance_id: "" ×2 + 3.20sINFOobjective_server_node ×2 + 3.26sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1788971276.15523458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745184 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Received new action goal ×2 + 3.47sINFOros2_control_node[2026-09-09 16:27:56.362] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.279720 ms (missed cycles : 3).[0m ×2 + 5.24sWARNros2_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 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319405 ms (missed cycles : 4).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179228 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 101 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.737463 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.737463 ms (missed cycles : 6).[0m ×2 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (4.09e-07 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X__X] ×2 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X______________X] ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 0.82sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 0.85sINFOobjective_server_nodeFound path in 1 iterations (0.00347104 s). ×2 + 1.02sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________________________X_________________X] ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224201 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224201 ms (missed cycles : 4).[0m ×2 + 1.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.10sINFOros2_control_node[2026-09-09 16:28:15.485] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-09-09 16:28:15.485] [info] Accepted new action goal ×2 + 1.53sINFOros2_control_node[2026-09-09 16:28:15.917] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-09-09 16:28:15.917] [info] Accepted new action goal ×2 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701468 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701468 ms (missed cycles : 2).[0m ×2 + 2.84sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.84sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.13sINFOobjective_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 + 3.13sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.13sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.13sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.13sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_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: 1788971297.53269720 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.15sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635436 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635436 ms (missed cycles : 4).[0m ×2 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 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 + 3.84sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load and Execute Joint Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.84sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.84sINFOobjective_server_nodeobjective_name: "Load and Execute Joint Trajectory" ×2 + 3.84sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.84sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.84sINFOobjective_server_nodecaller: ×2 + 3.84sINFOobjective_server_nodetype: 0 ×2 + 3.84sINFOobjective_server_nodename: "" ×2 + 3.84sINFOobjective_server_nodeinstance_id: "" ×2 + 3.84sINFOobjective_server_node ×2 + 3.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1788971298.34547329 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 4.11sINFOros2_control_node[2026-09-09 16:28:18.499] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-09-09 16:28:18.499] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014531 ms (missed cycles : 5). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014531 ms (missed cycles : 5).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454673 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454673 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913111 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.913111 ms (missed cycles : 5).[0m ×2 + 6.62sINFOros2_control_node[2026-09-09 16:28:21.012] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-09-09 16:28:21.012] [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 7.713159 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.713159 ms (missed cycles : 5).[0m ×2 + 0.71sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283694 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086191 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1788971309.58439803 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.66sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Load MuJoCo Robot State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.66sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 2.66sINFOobjective_server_nodeobjective_name: "Load MuJoCo Robot State" ×2 + 2.66sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 2.66sINFOobjective_server_nodeparameter_overrides: [] ×4 + 2.66sINFOobjective_server_nodecaller: ×4 + 2.66sINFOobjective_server_nodetype: 0 ×4 + 2.66sINFOobjective_server_nodename: "" ×4 + 2.66sINFOobjective_server_nodeinstance_id: "" ×4 + 2.66sINFOobjective_server_node ×4 + 2.72sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1788971310.17542267 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.75sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.75sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.76sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1788971310.23592782 seconds ×3 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.311162 ms (missed cycles : 4).[0m ×2 + 3.51sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.51sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 3.56sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.69sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 5.69sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Look at Table"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×4 + 0.00sINFOobjective_server_nodeobjective_name: "Look at Table" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×4 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×4 + 0.00sINFOobjective_server_nodecaller: ×4 + 0.00sINFOobjective_server_nodetype: 0 ×4 + 0.00sINFOobjective_server_nodename: "" ×4 + 0.00sINFOobjective_server_nodeinstance_id: "" ×4 + 0.00sINFOobjective_server_node ×4 + 0.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1788971311.02236271 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Received new action goal ×2 + 0.18sINFOros2_control_node[2026-09-09 16:28:31.147] [info] Accepted new action goal ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125358 ms (missed cycles : 2).[0m ×2 + 2.18sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1788971313.15250134 seconds ×3 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567117 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Move Flasks to Burners"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Move Flasks to Burners" ×2 + 3.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1788971314.76075149 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.87sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.88sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Received new action goal ×2 + 4.20sINFOros2_control_node[2026-09-09 16:28:35.167] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781516 ms (missed cycles : 2).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026478 ms (missed cycles : 2).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398865 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 23 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011697 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011697 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015926 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015926 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214922 ms (missed cycles : 2).[0m ×2 + 2.11sWARNros2_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 + 2.93sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1788971369.20687342 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858191 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858191 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.53sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.53sINFOobjective_server_nodeobjective_name: "MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample" ×2 + 3.53sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.53sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.53sINFOobjective_server_nodecaller: ×2 + 3.53sINFOobjective_server_nodetype: 0 ×2 + 3.53sINFOobjective_server_nodename: "" ×2 + 3.53sINFOobjective_server_nodeinstance_id: "" ×2 + 3.53sINFOobjective_server_node ×2 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1788971369.86192870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 3.75sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 3.76sINFOros2_control_node[2026-09-09 16:29:30.035] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-09-09 16:29:30.035] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522353 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.522353 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_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 + 5.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.12sINFOobjective_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 + 5.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179692 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.179692 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265961 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265961 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 2.74sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 2.74sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 0.0s | 20 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 2.74sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 2140 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×342 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×342 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×684 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×684 + 0.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2). + 0.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757334 ms (missed cycles : 2).[0m ×2 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.206980 ms (missed cycles : 2).[0m ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.025509 ms (missed cycles : 9).[0m ×2 + 2.74sWARNros2_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 + 3.21sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1788971435.90728712 seconds ×3 + 3.21sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.21sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.22sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953054 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Pick April Tag Labeled Object With Approval"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.81sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.81sINFOobjective_server_nodeobjective_name: "Pick April Tag Labeled Object With Approval" ×2 + 3.81sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.81sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.81sINFOobjective_server_nodecaller: ×2 + 3.81sINFOobjective_server_nodetype: 0 ×2 + 3.81sINFOobjective_server_nodename: "" ×2 + 3.81sINFOobjective_server_nodeinstance_id: "" ×2 + 3.81sINFOobjective_server_node ×2 + 3.89sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1788971436.59167767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). ×2 + 4.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-09-09 16:30:36.815] [info] Accepted new action goal ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607714 ms (missed cycles : 3).[0m ×2 + 6.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4). + 6.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228867 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 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 |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 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 |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 23 warnings · 82 info |
+ 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-09-09 16:30:43.591] [info] Accepted new action goal ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189143 ms (missed cycles : 3).[0m ×2 + 1.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580045 ms (missed cycles : 4).[0m ×2 + 1.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Received new action goal ×2 + 1.84sINFOros2_control_node[2026-09-09 16:30:45.435] [info] Accepted new action goal ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028051 ms (missed cycles : 2).[0m ×2 + 2.62sWARNros2_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 + 3.01sINFOobjective_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 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Got request to cancel active goal. ×2 + 3.01sINFOros2_control_node[2026-09-09 16:30:46.601] [info] Canceling active goal... ×2 + 3.02sERRORobjective_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: 1788971446.61601353 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 + 3.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309643 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Plan and Save Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.60sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.60sINFOobjective_server_nodeobjective_name: "Plan and Save Trajectory" ×2 + 3.60sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.60sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.60sINFOobjective_server_nodecaller: ×2 + 3.60sINFOobjective_server_nodetype: 0 ×2 + 3.60sINFOobjective_server_nodename: "" ×2 + 3.60sINFOobjective_server_nodeinstance_id: "" ×2 + 3.60sINFOobjective_server_node ×2 + 3.68sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1788971447.27584696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.86sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 3.86sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Received new action goal ×2 + 3.87sINFOros2_control_node[2026-09-09 16:30:47.460] [info] Accepted new action goal ×2 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.708531 ms (missed cycles : 4).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.071796 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226809 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 61 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885627 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885627 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881868 ms (missed cycles : 6). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.881868 ms (missed cycles : 6).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266681 ms (missed cycles : 4). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.266681 ms (missed cycles : 4).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sERRORobjective_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: 1788971457.52641392 seconds ×3 + 2.87sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763901 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763901 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Playback Square Trajectory"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.41sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.41sINFOobjective_server_nodeobjective_name: "Playback Square Trajectory" ×2 + 3.41sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.41sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.41sINFOobjective_server_nodecaller: ×2 + 3.41sINFOobjective_server_nodetype: 0 ×2 + 3.41sINFOobjective_server_nodename: "" ×2 + 3.41sINFOobjective_server_nodeinstance_id: "" ×2 + 3.41sINFOobjective_server_node ×2 + 3.47sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1788971458.13896537 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.72sWARNros2_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 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (3.86e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.77sINFOros2_control_node[2026-09-09 16:30:58.437] [info] Received new action goal ×2 + 3.77sINFOros2_control_node[2026-09-09 16:30:58.438] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418338 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418338 ms (missed cycles : 2).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684621 ms (missed cycles : 6). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.684621 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 22 warnings · 66 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065030 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065030 ms (missed cycles : 3).[0m ×2 + 1.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397485 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.397485 ms (missed cycles : 2).[0m ×2 + 2.25sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257736 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257736 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1788971468.05111647 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Record and Replay Scanning Motion"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.55sINFOobjective_server_nodeReceived /do_objective goal: ×2 + 3.55sINFOobjective_server_nodeobjective_name: "Record and Replay Scanning Motion" ×2 + 3.55sINFOobjective_server_nodeobjective_xml_string: "" ×2 + 3.55sINFOobjective_server_nodeparameter_overrides: [] ×2 + 3.55sINFOobjective_server_nodecaller: ×2 + 3.55sINFOobjective_server_nodetype: 0 ×2 + 3.55sINFOobjective_server_nodename: "" ×2 + 3.55sINFOobjective_server_nodeinstance_id: "" ×2 + 3.55sINFOobjective_server_node ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514213 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514213 ms (missed cycles : 4).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1788971468.65411544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.88e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_________X] ×2 + 3.75sINFOros2_control_node[2026-09-09 16:31:08.798] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-09-09 16:31:08.798] [info] Accepted new action goal ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490275 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.490275 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.66sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562003 ms (missed cycles : 4). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.562003 ms (missed cycles : 4).[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 3.301634 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 1.14sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1788971479.02443123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.74sINFOobjective_server_nodecaller: ×6 + 3.74sINFOobjective_server_nodetype: 0 ×6 + 3.74sINFOobjective_server_nodename: "" ×6 + 3.74sINFOobjective_server_nodeinstance_id: "" ×6 + 3.74sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 3.301634 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 1.14sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1788971479.02443123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.74sINFOobjective_server_nodecaller: ×6 + 3.74sINFOobjective_server_nodetype: 0 ×6 + 3.74sINFOobjective_server_nodename: "" ×6 + 3.74sINFOobjective_server_nodeinstance_id: "" ×6 + 3.74sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 3.301634 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301634 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.695897 ms (missed cycles : 6).[0m ×2 + 1.14sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_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 + 3.12sERRORobjective_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: 1788971479.02443123 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 3.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.20sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.74sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.74sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.74sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 3.74sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.74sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.74sINFOobjective_server_nodecaller: ×6 + 3.74sINFOobjective_server_nodetype: 0 ×6 + 3.74sINFOobjective_server_nodename: "" ×6 + 3.74sINFOobjective_server_nodeinstance_id: "" ×6 + 3.74sINFOobjective_server_node ×6 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.84sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.85sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.41sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 4.46sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.49sINFOobjective_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 + 4.49sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 5.14sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.14sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 5.19sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 5.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 6.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_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 + 1.97sERRORobjective_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: 1788971479.02443123 seconds ×3 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3).[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 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_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 + 1.97sERRORobjective_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: 1788971479.02443123 seconds ×3 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3).[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 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593039 ms (missed cycles : 2).[0m ×2 + 1.96sINFOobjective_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 + 1.97sERRORobjective_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: 1788971479.02443123 seconds ×3 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502630 ms (missed cycles : 3).[0m ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.06sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.59sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Robot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.59sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 2.59sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Robot" ×2 + 2.59sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 2.59sINFOobjective_server_nodeparameter_overrides: [] ×6 + 2.59sINFOobjective_server_nodecaller: ×6 + 2.59sINFOobjective_server_nodetype: 0 ×6 + 2.59sINFOobjective_server_nodename: "" ×6 + 2.59sINFOobjective_server_nodeinstance_id: "" ×6 + 2.59sINFOobjective_server_node ×6 + 2.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1788971479.69747138 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1788971479.76760554 seconds ×3 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305801 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Save Robot Joint State"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.26sINFOobjective_server_nodeobjective_name: "Save Robot Joint State" ×2 + 3.31sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1788971480.36452413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_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 + 3.34sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1788971480.39669919 seconds ×3 + 3.99sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Stationary Admittance"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.99sINFOobjective_server_nodeobjective_name: "Stationary Admittance" ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.521336 ms (missed cycles : 4).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1788971481.09787440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-09-09 16:31:21.211] [info] Accepted new action goal ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.898800 ms (missed cycles : 2).[0m ×2 + 5.33sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453621 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5).[0m ×2 + 2.99sINFOobjective_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 + 3.00sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1788971491.53297830 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.57sINFOobjective_server_nodecaller: ×6 + 3.57sINFOobjective_server_nodetype: 0 ×6 + 3.57sINFOobjective_server_nodename: "" ×6 + 3.57sINFOobjective_server_nodeinstance_id: "" ×6 + 3.57sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 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 4.431081 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 188 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.914027 ms (missed cycles : 2).[0m ×2 + 0.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.892784 ms (missed cycles : 6).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.234738 ms (missed cycles : 5).[0m ×2 + 2.99sINFOobjective_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 + 3.00sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Got request to cancel active goal. ×2 + 3.00sINFOros2_control_node[2026-09-09 16:31:31.528] [info] Canceling active goal... ×2 + 3.00sERRORobjective_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: 1788971491.53297830 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259492 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Take Scene Camera Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.57sINFOobjective_server_nodeReceived /do_objective goal: ×6 + 3.57sINFOobjective_server_nodeobjective_name: "Take Scene Camera Snapshot" ×2 + 3.57sINFOobjective_server_nodeobjective_xml_string: "" ×6 + 3.57sINFOobjective_server_nodeparameter_overrides: [] ×6 + 3.57sINFOobjective_server_nodecaller: ×6 + 3.57sINFOobjective_server_nodetype: 0 ×6 + 3.57sINFOobjective_server_nodename: "" ×6 + 3.57sINFOobjective_server_nodeinstance_id: "" ×6 + 3.57sINFOobjective_server_node ×6 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1788971492.15395904 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 4.431081 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431081 ms (missed cycles : 3).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1788971493.74409246 seconds ×3 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.070755 ms (missed cycles : 5).[0m ×2 + 5.75sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector and String Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.75sINFOobjective_server_nodeobjective_name: "Vector and String Example" ×2 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1788971494.33929014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.81sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1788971494.34168673 seconds ×3 + 6.35sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Visualize Grasp Link"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.35sINFOobjective_server_nodeobjective_name: "Visualize Grasp Link" ×2 + 6.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1788971494.93678761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1788971494.94743085 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [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 | 8.1s | 42 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/2026-09-09-16-26-53-023785-71a33be7da9e-7226 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344165 ms (missed cycles : 3). + 0.79sINFOros2_control_node-1process started with pid [7274] ×2 + 0.79sINFOmove_group-9process started with pid [7315] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [7316] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [7317] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [7318] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [7319] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [7320] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [7321] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7322] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7323] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [7324] ×2 + 0.79sINFOweb_bridge-19process started with pid [7325] ×2 + 0.79sINFOtf2_web_republisher_node-20process started with pid [7373] ×2 + 0.79sINFOvideo_server-21process started with pid [7386] ×2 + 0.79sINFOweb_bridge_auth_proxy-22process started with pid [7390] ×2 + 0.79sINFOweb_video_auth_proxy-23process started with pid [7391] ×2 + 0.79sINFOros2-2process started with pid [7275] ×2 + 0.79sINFOros2-3process started with pid [7276] ×2 + 0.79sINFOros2-4process started with pid [7288] ×2 + 0.79sINFOros2-5process started with pid [7289] ×2 + 0.79sINFOros2-6process started with pid [7290] ×2 + 0.79sINFOros2-7process started with pid [7291] ×2 + 0.79sINFOros2-8process started with pid [7292] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_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 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344165 ms (missed cycles : 3).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF configuration loaded from /tmp/moveit-webrtc-3xtlqt4i/mediamtx.yml ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.74sINFOmove_group[2026-09-09 16:26:55.140] [moveit_pro_license] [info] ×2 + 1.74sINFOmove_group************************************************* ×4 + 1.74sINFOmove_group* MoveIt Pro License ×2 + 1.74sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.86sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.86sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.86sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.86sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.87sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.87sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOmove_group ×4 + 2.12sINFOmove_group[92mYou can start planning now![0m ×2 + 2.42sINFOwaypoint_manager_node[2026-09-09 16:26:55.822] [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 + 2.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.87sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.87sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.87sWARNros2_control_node16 MuJoCo bodies do not sit where the URDF places the same-named link. Sensor sites on these links are parented to an ancestor whose frames agree, so sensor frames stay correct, but the collision geometry MoveIt plans against does not match what MuJoCo simulates. Descendants inherit their ancestor's error, so correct the first link listed: ×2 + 3.87sINFOros2_control_nodebase: 0.0002 m, 3.1416 rad ×2 + 3.87sINFOros2_control_nodeshoulder_link: 0.0006 m, 3.1416 rad ×2 + 3.87sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.87sINFOros2_control_nodeupper_arm_link: 0.1380 m, 2.0944 rad ×2 + 3.87sINFOros2_control_nodeforearm_link: 0.0070 m, 2.0944 rad ×2 + 3.87sINFOros2_control_nodewrist_1_link: 0.1264 m, 1.5708 rad ×2 + 3.87sINFOros2_control_nodewrist_2_link: 0.1004 m, 0.0000 rad ×2 + 3.87sINFOros2_control_nodewrist_3_link: 0.1003 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_base_link: 0.0073 m, 1.5708 rad ×2 + 3.87sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.87sINFOros2_control_noderobotiq_85_left_inner_knuckle_link: 0.0078 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_left_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_right_inner_knuckle_link: 0.0079 m, 1.5708 rad ×2 + 3.87sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.87sINFOros2_control_noderobotiq_85_right_knuckle_link: 0.0073 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_left_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_left_finger_tip_link: 0.1092 m, 2.0014 rad ×2 + 3.87sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.87sINFOros2_control_noderobotiq_85_right_finger_link: 0.0076 m, 1.5708 rad ×2 + 3.87sINFOros2_control_noderobotiq_85_right_finger_tip_link: 0.1096 m, 2.0014 rad[0m ×2 + 3.87sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.87sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.87sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.87sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.87sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.87sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.87sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.87sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.93sINFOobjective_server_node[2026-09-09 16:26:57.334] [moveit_pro_license] [info] ×2 + 3.93sINFOobjective_server_node************************************************* ×4 + 3.93sINFOobjective_server_node* MoveIt Pro License ×2 + 3.93sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 4.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 4.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 4.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 4.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 4.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 4.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 4.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 4.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 4.04sINFOforce_torque_sensor_broadcasterconfigure successful + 4.04sINFOros2_control_nodeconfigure successful[0m ×2 + 4.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 4.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×16 + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 4.04sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 4.04sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 4.10sINFOobjective_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 + 4.10sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.11sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.11sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.12sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.12sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.12sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.12sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.12sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.12sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.18sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.18sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 4.31sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.31sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.31sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.31sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.32sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 4.32sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 4.35sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 4.35sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 4.35sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.35sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.35sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.36sINFOros2-2process has finished cleanly [pid 7275] ×2 + 4.36sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 4.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 4.45sINFOros2_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 + 4.45sINFOros2_control_nodeFell back to platform device 0 (software) after skipping: default display: eglInitialize failed: EGL_NOT_INITIALIZED (0x3001).[0m ×2 + 4.45sWARNros2_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 + 4.60sINFOcomponent_container_mt[2026-09-09 16:26:58.008] [moveit_pro_license] [info] ×2 + 4.60sINFOcomponent_container_mt************************************************* ×4 + 4.61sINFOcomponent_container_mt* MoveIt Pro License ×2 + 4.61sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.66sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 4.66sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 4.66sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 4.66sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 4.67sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 4.67sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 4.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.68sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 4.68sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 4.71sINFOros2-4process has finished cleanly [pid 7288] ×2 + 4.71sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 4.71sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 4.72sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 4.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 4.72sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 4.72sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 4.72sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 4.72sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467039 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.467039 ms (missed cycles : 3).[0m ×2 + 4.73sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 4.73sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 5.13sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 5.18sINFOros2-3process has finished cleanly [pid 7276] ×2 + 5.19sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.19sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.19sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.19sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.19sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.19sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.20sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.20sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.20sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.20sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.20sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.20sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.20sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.21sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.52sINFOros2-5process has finished cleanly [pid 7289] ×2 + 5.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 5.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 5.64sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.64sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.64sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.64sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.65sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.67sINFOros2_control_node[2026-09-09 16:26:59.074] [info] Controller state will be published at 10 Hz. ×2 + 5.67sINFOros2_control_node[2026-09-09 16:26:59.075] [info] VelocityForceController 'on_configure' succeeded. ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672259 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672259 ms (missed cycles : 2).[0m ×2 + 5.98sINFOros2-7process has finished cleanly [pid 7291] ×2 + 6.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 6.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 6.10sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.11sINFOros2_control_node[2026-09-09 16:26:59.510] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.11sINFOros2_control_node[2026-09-09 16:26:59.510] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.13sINFOros2_control_node[2026-09-09 16:26:59.534] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.13sINFOros2_control_node[2026-09-09 16:26:59.534] [info] Controller state will be published at 50 Hz. ×2 + 6.14sINFOros2_control_node[2026-09-09 16:26:59.539] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.18sWARNobjective_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 + 6.37sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 6.45sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.45sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.45sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.45sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.47sINFOros2-6process has finished cleanly [pid 7290] ×2 + 6.52sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc + 6.52sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_78aneyyl --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_qrhl80be --params-file /tmp/launch_params_np0kphkc [0m ×2 + 6.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.55sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.56sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.56sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.58sINFOros2_control_node[2026-09-09 16:26:59.985] [info] Controller state will be published at 20 Hz. ×2 + 6.58sINFOros2_control_node[2026-09-09 16:26:59.986] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.92sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.93sINFOros2-8process has finished cleanly [pid 7292] ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3).[0m ×2 + 7.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 7.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 7.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 7.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 7.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 7.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 7.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 7.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 7.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 7.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 7.64sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 7.64sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 7.64sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 7.64sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 7.64sINFOobjective_server_nodeparameter_overrides: [] ×10 + 7.64sINFOobjective_server_nodecaller: ×10 + 7.64sINFOobjective_server_nodetype: 0 ×10 + 7.64sINFOobjective_server_nodename: "" ×10 + 7.64sINFOobjective_server_nodeinstance_id: "" ×10 + 7.64sINFOobjective_server_node ×10 + 7.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 8.25sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 8.25sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 8.31sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.32sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.32sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.48sWARNros2_control_nodeCamera render tick took 1.98 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 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 9.48sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 9.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 10.04sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.04sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 10.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.15sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 10.76sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 10.76sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 10.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 11.37sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 11.37sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 11.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 347 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.01sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.01sINFOobjective_server_nodecaller: ×12 + 0.01sINFOobjective_server_nodetype: 0 ×12 + 0.01sINFOobjective_server_nodename: "" ×12 + 0.01sINFOobjective_server_nodeinstance_id: "" ×12 + 0.01sINFOobjective_server_node ×12 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.25sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.82sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 7.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.31sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 7.32sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 7.33sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 7.33sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 2.11sWARNros2_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 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.41sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 151 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/2026-09-09-16-26-53-023785-71a33be7da9e-7226 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 0.60sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 0.61sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 0.61sINFOcontroller_managerupdate rate is 600 Hz + 0.61sINFOcontroller_managerOverruns handling is : enabled + 0.61sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 0.61sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 0.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344165 ms (missed cycles : 3). + 0.79sINFOros2_control_node-1process started with pid [7274] ×2 + 0.79sINFOmove_group-9process started with pid [7315] ×2 + 0.79sINFOparameter_manager_node-10process started with pid [7316] ×2 + 0.79sINFOwaypoint_manager_node-11process started with pid [7317] ×2 + 0.79sINFOmove_joint_resampler_node-12process started with pid [7318] ×2 + 0.79sINFOmove_end_effector_resampler_node-13process started with pid [7319] ×2 + 0.79sINFOobjective_server_node_main-14process started with pid [7320] ×2 + 0.79sINFOcomponent_container_mt-15process started with pid [7321] ×2 + 0.79sINFOcomponent_container_mt-16process started with pid [7322] ×2 + 0.79sINFOexecute_objective_bridge-17process started with pid [7323] ×2 + 0.79sINFOui_teleop_bridge-18process started with pid [7324] ×2 + 0.79sINFOweb_bridge-19process started with pid [7325] ×2 + 0.79sINFOtf2_web_republisher_node-20process started with pid [7373] ×2 + 0.79sINFOvideo_server-21process started with pid [7386] ×2 + 0.79sINFOweb_bridge_auth_proxy-22process started with pid [7390] ×2 + 0.79sINFOweb_video_auth_proxy-23process started with pid [7391] ×2 + 0.79sINFOros2-2process started with pid [7275] ×2 + 0.79sINFOros2-3process started with pid [7276] ×2 + 0.79sINFOros2-4process started with pid [7288] ×2 + 0.79sINFOros2-5process started with pid [7289] ×2 + 0.79sINFOros2-6process started with pid [7290] ×2 + 0.79sINFOros2-7process started with pid [7291] ×2 + 0.79sINFOros2-8process started with pid [7292] ×2 + 0.81sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 0.81sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 0.81sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 0.81sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 0.81sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 0.81sWARNros2_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 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344165 ms (missed cycles : 3).[0m ×2 + 0.87sINFOcontroller_managerReceived robot description from topic. + 0.87sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 0.87sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 0.87sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 0.90sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 0.90sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 0.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF MediaMTX v1.20.1, linux, amd64 ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF configuration loaded from /tmp/moveit-webrtc-3xtlqt4i/mediamtx.yml ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 0.99sINFOvideo_server2026/09/09 16:26:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 1.23sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.50sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 1.50sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 1.74sINFOmove_group[2026-09-09 16:26:55.140] [moveit_pro_license] [info] ×2 + 1.74sINFOmove_group************************************************* ×4 + 1.74sINFOmove_group* MoveIt Pro License ×2 + 1.74sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.86sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 1.86sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 1.86sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 1.86sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 1.87sINFOros2_control_nodeScanned 6 MuJoCo plugin libraries in '/opt/overlay_ws/install/picknik_mujoco/bin/mujoco_plugin': libactuator.so, libelasticity.so, libobj_decoder.so, libsdf_plugin.so, libsensor.so, libstl_decoder.so.[0m ×2 + 1.87sINFOros2_control_nodeScanned 1 MuJoCo plugin libraries in '/opt/overlay_ws/install/mujoco_package_uri/bin/mujoco_plugin': libmujoco_package_uri_resource_provider.so.[0m ×2 + 1.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.00sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.01sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.02sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.06sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.12sINFOmove_group ×4 + 2.12sINFOmove_group[92mYou can start planning now![0m ×2 + 2.42sINFOwaypoint_manager_node[2026-09-09 16:26:55.822] [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 + 2.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 425 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.985] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.986] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2-8process has finished cleanly [pid 7292] ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3).[0m ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 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 + 1.93sWARNros2_control_nodeCamera render tick took 1.98 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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 3.20sWARNros2_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 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 425 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.985] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.986] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2-8process has finished cleanly [pid 7292] ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3).[0m ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 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 + 1.93sWARNros2_control_nodeCamera render tick took 1.98 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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 3.20sWARNros2_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 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 425 info |
+ 0.00sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.00sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.01sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.985] [info] Controller state will be published at 20 Hz. ×2 + 0.03sINFOros2_control_node[2026-09-09 16:26:59.986] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.38sINFOros2-8process has finished cleanly [pid 7292] ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.783857 ms (missed cycles : 3).[0m ×2 + 0.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.47sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 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: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.09sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.09sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 1.09sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 1.09sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 1.09sINFOobjective_server_nodeparameter_overrides: [] ×14 + 1.09sINFOobjective_server_nodecaller: ×14 + 1.09sINFOobjective_server_nodetype: 0 ×14 + 1.09sINFOobjective_server_nodename: "" ×14 + 1.09sINFOobjective_server_nodeinstance_id: "" ×14 + 1.09sINFOobjective_server_node ×14 + 1.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 1.69sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.69sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 1.76sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 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 + 1.93sWARNros2_control_nodeCamera render tick took 1.98 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 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 3.20sWARNros2_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 + 3.49sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.49sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 3.54sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.21sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 4.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 4.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.81sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 4.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 5.65sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.65sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 5.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 6.29sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 6.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.48sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 6.49sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 6.50sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 383 info |
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Clear Snapshot"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.00sINFOobjective_server_nodeReceived /do_objective goal: ×14 + 0.00sINFOobjective_server_nodeobjective_name: "Clear Snapshot" ×2 + 0.00sINFOobjective_server_nodeobjective_xml_string: "" ×14 + 0.00sINFOobjective_server_nodeparameter_overrides: [] ×14 + 0.00sINFOobjective_server_nodecaller: ×14 + 0.00sINFOobjective_server_nodetype: 0 ×14 + 0.00sINFOobjective_server_nodename: "" ×14 + 0.00sINFOobjective_server_nodeinstance_id: "" ×14 + 0.00sINFOobjective_server_node ×14 + 0.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1788971221.09782314 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1788971221.11319757 seconds ×3 + 0.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×15 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×30 + 0.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 0.60sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.61sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.67sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.84sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 2.11sWARNros2_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 + 2.40sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.40sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 2.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.12sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.73sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.78sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 4.57sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.57sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.65sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.65sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 5.20sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 5.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 5.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 5.41sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 6.25sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 25 warnings · 333 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.411080 ms (missed cycles : 4).[0m ×2 + 0.01sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Close Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.01sINFOobjective_server_nodeReceived /do_objective goal: ×12 + 0.01sINFOobjective_server_nodeobjective_name: "Close Gripper" ×2 + 0.01sINFOobjective_server_nodeobjective_xml_string: "" ×12 + 0.01sINFOobjective_server_nodeparameter_overrides: [] ×12 + 0.01sINFOobjective_server_nodecaller: ×12 + 0.01sINFOobjective_server_nodetype: 0 ×12 + 0.01sINFOobjective_server_nodename: "" ×12 + 0.01sINFOobjective_server_nodeinstance_id: "" ×12 + 0.01sINFOobjective_server_node ×12 + 0.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1788971221.71737313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.25sWARNros2_control_nodeCamera render tick took 1.98 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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 1.24sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.52sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.81sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.81sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.53sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 2.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 3.13sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.13sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 3.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 3.97sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.97sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.05sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 4.61sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 4.67sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_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 + 4.69sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.69sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.82sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 4.82sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 5.66sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion14 skip
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_cartesian_pose_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_named_waypoint_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.061974 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.061974 ms (missed cycles : 4).[0m ×2 + 6.60sWARNros2_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 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception3 skip
| − skipped | — | calibrate_eye_in_hand_camera.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | collect_calibration_samples.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [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 | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 322 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590665 ms (missed cycles : 2).[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1788971222.88350964 seconds ×3 + 0.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.25sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.78sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Open Gripper"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 0.78sINFOobjective_server_nodeReceived /do_objective goal: ×10 + 0.78sINFOobjective_server_nodeobjective_name: "Open Gripper" ×2 + 0.78sINFOobjective_server_nodeobjective_xml_string: "" ×10 + 0.78sINFOobjective_server_nodeparameter_overrides: [] ×10 + 0.78sINFOobjective_server_nodecaller: ×10 + 0.78sINFOobjective_server_nodetype: 0 ×10 + 0.78sINFOobjective_server_nodename: "" ×10 + 0.78sINFOobjective_server_nodeinstance_id: "" ×10 + 0.78sINFOobjective_server_node ×10 + 0.83sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1788971223.49614644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.89sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1788971223.55634809 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746263 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset Planning Scene"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 1.50sINFOobjective_server_nodeobjective_name: "Reset Planning Scene" ×2 + 1.55sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1788971224.21151328 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.57sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1788971224.23163438 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.110514 ms (missed cycles : 4).[0m ×2 + 2.11sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Vector Subtrees Example"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.11sINFOobjective_server_nodeobjective_name: "Vector Subtrees Example" ×2 + 2.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1788971224.83006907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1788971224.98067307 seconds ×3 + 2.95sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "Reset MuJoCo Sim"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 2.95sINFOobjective_server_nodeobjective_name: "Reset MuJoCo Sim" ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1788971225.66072774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1788971225.71087575 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013544 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeReceived /do_objective goal:
objective_name: "3 Waypoints Pick and Place"
objective_xml_string: ""
parameter_overrides: []
caller:
type: 0
name: ""
instance_id: ""
+ 3.58sINFOobjective_server_nodeobjective_name: "3 Waypoints Pick and Place" ×2 + 3.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1788971226.31242013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_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 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (2.2318e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Received new action goal ×2 + 3.79sINFOros2_control_node[2026-09-09 16:27:06.458] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439072 ms (missed cycles : 3).[0m ×2 + 4.63sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445521 ms (missed cycles : 3).[0m ×2 + 6.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.42e-07 s). ×2 + 6.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-09-09 16:27:08.967] [info] Accepted new action goal ×2 | ||||